Crazyflie 2.0 Custom Obstacle Avoidance Deck with 13 VL53L1X ToF Sensors
Crazyflie 2.0 is a lightweight micro aerial vehicle. This open source platform comes with a variety of decks to support multiple implementations. One of them is a Obstacle Avoidance Deck by the original manufacturer itself. This deck supports five Time of Flight (ToF) sensors mounted as shown in figure below. Our project is requires sensor readings captured using these ToF sensors. Effectiveness and accuracy of our algorithms require more data points than points provided by just five sensors. There are no other hardware platforms available in the Internet supporting more ToF sensors and the alternative we had was to develop one on our own. Researching into existing hardware platform, we were able to extend the design to build a custom deck that supports 13 ToF sensors mounted facing different angles. The schematics and bill of materials can be found from this repository hosted online: https://github.com/CloudyPadmal/CrazyFlieToFDeck Designing the hardware