fpv issue

[4perros]

hello
in reference to my previous post, i read through the fpv.py script from 2023 and compared it to the 2025 script and on line 189 there is an entry
#Arm the crazyflie
which is not present in the previous version of the script. i commented out the next two lines of code

self.cf.platform.send_arming_request(True)
time.sleep(1.0)

i turn on the crazyflie and the motors start so does the streaming window. When i stop i get this warning

/home/rodrigo/.local/lib/python3.10/site-packages/cflib/crazyflie/commander.py:100 DeprecationWarning: using legacy TYPE_HOVER_LEGACY.
Please update your crazyflie-firmware.

I did update the crazyflie-firmware but the message persists.
I read through the file in the .local/lib/python3.10/site-packages/cflib/crazyflie/ directory commander.py and on line 181 this entry appears
“Using legacy TYPE_HOVER_LEGACY. Please update your crazyflie-firmware”,
DeprecationWarning.
I want to know if i commented out this lines on this script would the performance of the crazyflie be affected.

Regards
rodrigo

[ArisMorgens]

Hello @4perros!

There are 2 different issues based on your description.

First, the send_arming_request() function was misplaced on our example, as it should be prior to any hovering command. This should be solved in this PR. Thanks for pointing that out!
It was added for the Crazyflie 2.1 Brushless, so if you aren't using this platform, you can comment it out without any consequences.

Regarding the DeprecationWarning, it's not related to the commented lines. It means that the firmware on your platform is old, so make sure that you flashed the latest version. A screenshot of the console output in the console tab of the cfclient could help us identify what firmware version you're using.

Finally, we released new versions of firmware, cflib and cfclient, so maybe you'd like to install those. However, these updates shouldn't affect the issue you are experiencing.

Let us know if you managed to figure it out, or if we need to further investigate it.

[4perros]

Hello Aris
thank you for your reply. I am using the crazyflie 2.0 and i have installed both cfclient and cflib from the latest update 2025/02. I reinstalled the cflib, but the changes made to the script are not present, so i commented out
time.slieep(1.0)
and this seems to partially work.
Ill attach a printout of the console.
regards
rodrigo

SYS: Crazyflie 2.0 is up and running!
SYS: Build 156:c9466a1d2560 (2025.02 +156) CLEAN
SYS: I am 0x313139313535511300360046 and I have 1024KB of flash!
CFGBLK: v1, verification [OK]
DECK_DISCOVERY: Backend found: onewire
DECK_CORE: 2 deck(s) found
DECK_CORE: Calling INIT on driver bcFlow for deck 0
PMW: Motion chip id: 0x49:0xB6
DECK_CORE: Calling INIT on driver bcAI for deck 1
CPX-EXT-ROUTER: Waiting for CPX External router initialization
CPX-EXT-ROUTER: CPX External router initialized, CPX_VERSION: 0
AIDECK: AI-deck will connect to WiFi
MPU9250 I2C connection [OK].
AK8963 I2C connection [OK].
LPS25H I2C connection [OK].
ESTIMATOR: Using Kalman (2) estimator
CONTROLLER: Using PID (1) controller
MTR-DRV: Using brushed motor driver
SYS: About to run tests in system.c.
EEPROM: I2C connection [OK].
STORAGE: Storage check [OK].
MPU6500: Self test gyro X [FAIL]. low: -14.0, high: 14.0, measured: -30.05
MPU6500: Self test gyro X [FAIL]. low: -14.0, high: 14.0, measured: 17.55
MPU6500: Self test gyro Z [FAIL]. low: -14.0, high: 14.0, measured: 17.39
AK8963: Self test [OK].
DECK_CORE: Deck 0 test [OK].
DECK_CORE: Deck 1 test [OK].
SYS: Self test passed!
STAB: Wait for sensor calibration...
SYS: Free heap: 9144 bytes
CPX: ESP32: I (438) SYS: Initialized
CPX: ESP32: I (438) DISCOVERY: Hostname is aideck-7B1180
CPX: ESP32: I (438) DISCOVERY: MAC (STA) is 78:21:84:7b:11:80
CPX: ESP32: I (3708) WIFI: wifi_init_sta finished.
CPX: ESP32: I (8898) WIFI: got ip: 192.168.1.83
CPX: ESP32: I (8898) WIFI: country:
CPX: ESP32: I (8898) WIFI: rssi: -69
CPX: ESP32: I (8898) WIFI: 11b: 1, 11g: 1, 11n: 1, lr: 0
CPX: WiFi connected to ip: 192.168.1.83
STAB: Starting stabilizer loop
ESTKALMAN: State out of bounds, resetting
STAB: WARNING: stabilizer loop rate is off (902)

[ArisMorgens]

Hello @4perros!

Great that you managed to make it work!

Could you specify exactly which lines you commented out so we can take a look and update our example?
Also, are you running the same script as this one, or have you modified it?

[4perros]

hello Aris
I commented out lines #190 and #191 and yes i am using the same script and no modifications.
regards
rodrigo