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lg_1 = LogConfig(name='first', period_in_ms=50)
# ... more code to define the log block
lg_2 = LogConfig(name='second', period_in_ms=50)
# ... more code to define the log block

with SyncCrazyflie('usb://0') as scf:
    with SyncLogger(scf, [lg_1, lg_2]) as logger:
        # Do stuff with the log data
        

Code: Select all

import logging
import time

import cflib.crtp
from cflib.crazyflie import Crazyflie
from cflib.crazyflie.log import LogConfig
from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
from cflib.crazyflie.syncLogger import SyncLogger

import numpy as np

# Only output errors from the logging framework
logging.basicConfig(level=logging.ERROR)
URI = 'radio://0/80/2M'


if __name__ == '__main__':
    # Initialize the low-level drivers (don't list the debug drivers)
    cflib.crtp.init_drivers(enable_debug_driver=False)

    lg1 = LogConfig(name='Stabilizer', period_in_ms=10)
    #lg1.add_variable('stabilizer.roll', 'float')
    #lg1.add_variable('stabilizer.pitch', 'float')
    #lg1.add_variable('stabilizer.yaw', 'float')
    #lg1.add_variable('stabilizer.thrust','float')
    lg1.add_variable('stateEstimate.z','float')
    lg1.add_variable('stateEstimate.vz','float')
    lg1.add_variable('stateEstimate.roll', 'float')
    lg1.add_variable('stateEstimate.pitch', 'float')
    lg1.add_variable('stateEstimate.yaw', 'float')
    
    lg2 = LogConfig(name='Stabilizer', period_in_ms=10)
    lg2.add_variable('stateEstimate.x','float')
    lg2.add_variable('stateEstimate.vx','float')
    lg2.add_variable('stateEstimate.y', 'float')
    lg2.add_variable('stateEstimate.vy', 'float')
    lg2.add_variable('stateEstimateZ.quat', 'uint32_t')
    
    
    cf = Crazyflie(rw_cache='./cache')
    
    with SyncCrazyflie(URI, cf=cf) as scf:
        # Note: it is possible to add more than one log config using an
        # array.
        # with SyncLogger(scf, [lg_stab, other_conf]) as logger:

        with SyncLogger(scf,[lg1, lg2]) as logger1:
            endTime = time.time() + 3
            for log_entry1 in logger1: 
                #for log_entry2 in logger2:
                timestamp1 = log_entry1[0]
                data1 = log_entry1[1]
                logconf_name1 = log_entry1[2]
                #print(data['stabilizer.roll'])
                print('[%d][%s]: %s' % (timestamp1, logconf_name1, data1))
                #timestamp1 = log_entry2[0]
                #data1 = log_entry2[1]
                #logconf_name1 = log_entry2[2]
                #print(data['stabilizer.roll'])
                #print('[%d][%s]: %s' % (timestamp1, logconf_name1, data1))
                if time.time() > endTime:
                    break