Classes
LighthouseMatchedSweepAngleReader
LighthouseMatchedSweepAngleReader(cf: cflib.crazyflie.Crazyflie, data_recevied_cb, timeout_cb=None, sample_count: int = 1, min_bs: int = 2, max_time_ms: int = 25)
Wrapper to simplify reading of matched lighthouse sweep angles from the locSrv stream
Class variables
MATCHED_STREAM_MAX_TIME_PARAM
MATCHED_STREAM_MIN_BS_PARAM
MATCHED_STREAM_PARAM
NR_OF_SENSORS
Methods
def start(self, timeout: float = 0.0)
Start reading sweep angles
Args: timeout (float): timeout in seconds, 0.0 means no timeout
def stop(self)
Stop reading sweep angles
LighthouseSweepAngleAverageReader
LighthouseSweepAngleAverageReader(cf: cflib.crazyflie.Crazyflie, ready_cb: collections.abc.Callable[[dict[int, tuple[int, cflib.localization.lighthouse_bs_vector.LighthouseBsVectors]]], None])
Helper class to make it easy read sweep angles for multiple base stations and average the result
Methods
def is_collecting(self)
True if data collection is in progress
def start_angle_collection(self)
Start collecting angles. The process will terminate when nr_of_samples_required have been received
def stop_angle_collection(self)
Premature stop of data collection
LighthouseSweepAngleReader
LighthouseSweepAngleReader(cf: cflib.crazyflie.Crazyflie, data_recevied_cb)
Wrapper to simplify reading of lighthouse sweep angles from the locSrv stream
Class variables
ANGLE_STREAM_PARAM
NR_OF_SENSORS
Methods
def start(self)
Start reading sweep angles
def stop(self)
Stop reading sweep angles