Functionality to manage lighthouse system configuration (geometry and calibration data). Classes LighthouseConfigFileManager LighthouseConfigFileManager() Class variables CALIBS_ID GEOS_ID SYSTEM_TYPE_ID SYSTEM_TYPE_V1 SYSTEM_TYPE_V2 TYPE TYPE_ID VERSION VERSION_ID Static methods def read(file_name)… Read More

Bootloading utilities for the Crazyflie. Sub-modules cflib.bootloader.boottypes cflib.bootloader.cloader Classes Bootloader Bootloader(clink=None) Bootloader utility for the Crazyflie Init the communication class by starting to communicate with the link given. clink is the link address used after resetting… Read More

This port groups various packets related to localization. It exposes two channels: Port Channel Name 6 0 External Position 6 1 Generic localization External Position This packet is used to send the Crazyflie position as acquired by an external system. The main use is to send the position acquired by… Read More

Note: Beware that this might not work with the latest firmware or clients As explained in the vision main page the Crazyflie vision system is modular and is composed of many programs: This page aims at explaining step-by-step how to get everything working. It is based on the Windows Kinect SDK implementation… Read More

Used for sending high level setpoints to the Crazyflie Classes HighLevelCommander HighLevelCommander(crazyflie=None) Used for sending high level setpoints to the Crazyflie Initialize the object. Class variables ALL_GROUPS COMMAND_DEFINE_TRAJECTORY COMMAND_GO_TO COMMAND_LAND_2 COMMAND_SET_GROUP_MASK… Read More

Used for sending control setpoints to the Crazyflie Classes Commander Commander(crazyflie=None) Used for sending control setpoints to the Crazyflie Initialize the commander object. By default the commander is in +-mode (not x-mode). Methods def send_full_state_setpoint(self, pos, vel, acc, orientation,… Read More

The two way ranging protocol allows a tag to measure its distance to an anchor. The protocol contains 4 messages, two are sent by the tag and two by the anchor. The message sequence is as follow: The time of flight is calculated using the formula: TWR packet IDs ID Description 0x01 TWR_POLL 0x02 TWR_ANSWER… Read More

One way to get started with lighthouse 2 is to create a conversion from lighthouse 2 angles to lighthouse 1 angles, and use the functionality that has already been implemented for lighthouse 1. Even though it is an easy way to get started, the main drawback is that we need both sweeps for the conversion.… Read More

On Friday the 16th of April in the afternoon, we hosted an AI deck 1.1 given by the PULP lab featuring Greenwaves Technologies. Information Date and Time: 16th April 2021, 14:00 (2 pm) - 16:00 (4 pm) (Central European Summer Time) Place: The Bitcraze Discord server in tutorials and workshops Speakers:… Read More

This page describes the generalized measurement model used for the lighthouse in the Kalman state estimator. In the measurement model we want to get from a sensor position s\vec{s}s to rotation angle ?\alpha?. The first step is to calculate the sensor position in the rotor reference frame. Use a rotation… Read More