PULP-Dronet

Which version runs on which hardware

Version 1 ran on the group's own PULP-Shield board on a Crazyflie 2.0. Versions 2 and 3 target the Bitcraze AI-deck on a Crazyflie 2.1, which carries a GAP8 processor and a Himax camera. This profile pins the pulp-dronet-v3 release. It ships two pre-trained PyTorch models: PULP-Dronet v3, reported at 19 frames per second and 320 kB, and Tiny-PULP-Dronet v3, reported at 139 frames per second and 2.9 kB on the GAP8. The testing script reports collision accuracy and yaw-rate error. Those figures are upstream reports, not results reproduced here. [S001] [S004] [S006]

What a builder must match

Deployment is tied to specific versions. The v3 instructions require gap-sdk 3.9.1, crazyflie-firmware tag 2022.01, the Crazyflie client at 2022.01 and the Python library at 0.1.17.1. They warn that newer Crazyflie firmware is not compatible because it changed substantially. A newly bought AI-deck may also need specific NINA firmware, and flashing the GAP8 uses a JTAG cable. The STM32 flight application then reads the network's outputs over UART and starts flying when the fly parameter is set in the client. Anyone using the catalog's Crazyflie profile should compare its firmware revision against these pins before assuming the two work together. [S004]

The archive does not contain the submodules for the NEMO and DORY tools, the viewer or the modified firmware. Those folders are empty, so a recursive clone is required, and several submodule URLs use SSH addresses. Training uses a conda environment and GPU-flagged scripts. [S004] [S006]

Dataset and licenses

The v3 dataset was collected with a human pilot flying a Crazyflie 2.1. Images were labelled for collision whenever an obstacle in view was closer than 2 m, and also carry the pilot's yaw-rate commands. The collection framework uses the AI-deck and a Flow deck v2, with an optional Multi-ranger deck. The image counts differ between documents: the main README says 66k labelled images, while the v3 README describes 77k images and tabulates 77,418. [S001] [S004] [S005]

Repository code, documentation and the bundled weights are released under Apache-2.0. The v3 dataset is hosted on Zenodo under CC BY-NC-SA 4.0, which does not grant commercial-use rights. External Crazyflie firmware and viewer modules are GPL-3.0, and the v1 Udacity and Zurich datasets are MIT. Whether noncommercial dataset terms affect use of weights trained on that data was not resolved here. The Zenodo page itself was not preserved. No training, flashing or flight was performed for this profile. [S001] [S003] [S007]