hello, i' m confused about staff and maybe im asking in a wrong way
so as the question have mentioned i'd like to use the position of my tag (crazyflie) generated by the lps , so i'd like to know how can i do that , i mean where this data is saved and how can i write my python script using this variable ?
thank uuu so uch
How can i get the position of the tag ?
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- Beginner
- Posts: 3
- Joined: Mon Jul 26, 2021 3:59 pm
Re: How can i get the position of the tag ?
Hi
You can find position of crazyflie from example codehttps://github.com/bitcraze/crazyflie-l ... equence.py
line 110 is the function that saves position of crazyflie to variable x, y, and z.
position of crazyflie is coming from line 118, from LogConfig.
Crazyflie self-localize its position and send coordinates to computer, and computer receives the data through logging system.
This is also my code I used earlier. a bit messy but i think it will be help to you.
You can find position of crazyflie from example codehttps://github.com/bitcraze/crazyflie-l ... equence.py
line 110 is the function that saves position of crazyflie to variable x, y, and z.
position of crazyflie is coming from line 118, from LogConfig.
Crazyflie self-localize its position and send coordinates to computer, and computer receives the data through logging system.
This is also my code I used earlier. a bit messy but i think it will be help to you.
Code: Select all
# -*- coding: utf-8 -*-
#
# || ____ _ __
# +------+ / __ )(_) /_______________ _____ ___
# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
#
# Copyright (C) 2016 Bitcraze AB
#
# Crazyflie Nano Quadcopter Client
#
# This program is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
# MA 02110-1301, USA.
"""
Simple example that connects to one crazyflie (check the address at the top
and update it to your crazyflie address) and send a sequence of setpoints,
one every 5 seconds.
This example is intended to work with the Loco Positioning System in TWR TOA
mode. It aims at documenting how to set the Crazyflie in position control mode
and how to send setpoints.
"""
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 logging
import pandas as pd
logging.basicConfig(level=logging.ERROR)
uri = 'radio://0/125/2M/E7E7E7E7B1'
sequence=[0,0,0]
a=[]
flytime = 10
height = 1.7
position = [4,4]
class TOC:
def __init__(self, cf):
self._cf = cf
self.log_conf = LogConfig(name='Position', period_in_ms=200)
self.log_conf.add_variable('kalman.stateX', 'float')
self.log_conf.add_variable('kalman.stateY', 'float')
self.log_conf.add_variable('kalman.stateZ', 'float')
# self.log_conf2 = LogConfig(name='state', period_in_ms=100)
# self.log_conf2.add_variable('ctrltarget.x', 'float')
# self.log_conf2.add_variable('ctrltarget.y', 'float')
# self.log_conf2.add_variable('ctrltarget.z', 'float')
# self.log_conf2 = LogConfig(name='state', period_in_ms=10)
# self.log_conf2.add_variable('zranging.offset', 'float')
# self.log_conf2.add_variable('zranging.history', 'float')
# self.log_conf2.add_variable('zranging.collect', 'float')
self._cf.log.add_config(self.log_conf)
self.log_conf.data_received_cb.add_callback(self.position_callback)
self.log_conf.start()
# self._cf.log.add_config(self.log_conf2)
# self.log_conf2.data_received_cb.add_callback(self.state_callback)
# self.log_conf2.start()
def position_callback(self, timestamp, data, logconf):
self.x = data['kalman.stateX']
self.y = data['kalman.stateY']
self.z = data['kalman.stateZ']
# def state_callback(self, timestamp, data, logconf):
# self.offset = data['zranging.offset']
# self.history = data['zranging.collect']
# self.collect = data['zranging.history']
def wait_for_position_estimator(scf):
print('Waiting for estimator to find position...')
log_config = LogConfig(name='Kalman Variance', period_in_ms=100)
log_config.add_variable('kalman.varPX', 'float')
log_config.add_variable('kalman.varPY', 'float')
log_config.add_variable('kalman.varPZ', 'float')
var_y_history = [1000] * 10
var_x_history = [1000] * 10
var_z_history = [1000] * 10
threshold = 0.001
with SyncLogger(scf, log_config) as logger:
for log_entry in logger:
data = log_entry[1]
var_x_history.append(data['kalman.varPX'])
var_x_history.pop(0)
var_y_history.append(data['kalman.varPY'])
var_y_history.pop(0)
var_z_history.append(data['kalman.varPZ'])
var_z_history.pop(0)
min_x = min(var_x_history)
max_x = max(var_x_history)
min_y = min(var_y_history)
max_y = max(var_y_history)
min_z = min(var_z_history)
max_z = max(var_z_history)
# print("{} {} {}".
# format(max_x - min_x, max_y - min_y, max_z - min_z))
if (max_x - min_x) < threshold and (
max_y - min_y) < threshold and (
max_z - min_z) < threshold:
break
def reset_estimator(scf):
global data
cf = scf.cf
cf.param.set_value('kalman.resetEstimation', '1')
time.sleep(0.1)
cf.param.set_value('kalman.resetEstimation', '0')
data = TOC(cf)
time.sleep(0.1)
wait_for_position_estimator(cf)
def take_off(cf, position, tot):
take_off_time = tot
sleep_time = 0.1
steps = int(take_off_time / sleep_time)
vz = position / take_off_time
#print(vz)
for i in range(steps):
cf.commander.send_velocity_world_setpoint(0, 0, vz, 0)
time.sleep(sleep_time)
def land(cf, position, lt):
landing_time = lt
sleep_time = 0.1
steps = int(landing_time / sleep_time)
vz = -position / landing_time
#print(vz)
for i in range(steps):
cf.commander.send_velocity_world_setpoint(0, 0, vz, 0)
time.sleep(sleep_time)
cf.commander.send_setpoint(0,0,0,0)
# Make sure that the last packet leaves before the link is closed
# since the message queue is not flushed before closing
time.sleep(0.1)
def run_sequence(scf, sequence):
global a, height, flytime
cf = scf.cf
end_time = time.time() + flytime
# take_off(cf, height, 3.0)
while time.time() < end_time:
# cf.commander.send_hover_setpoint(0, 0, 0, height)
# cf.commander.send_position_setpoint(position[0],position[1],height,0)
print(data.x,data.y, data.z)
# a = a +[[data.x, data.y, data.z,data.history-data.collect,data.history, data.collect, data.offset]]
time.sleep(1)
# land(cf, height, 3.0)
# Make sure that the last packet leaves before the link is closed
# since the message queue is not flushed before closing
# time.sleep(0.1)
if __name__ == '__main__':
cflib.crtp.init_drivers(enable_debug_driver=False)
with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
reset_estimator(scf)
input("press enter to start the flight")
run_sequence(scf, sequence)
ddd=pd.DataFrame(a)
ddd.to_csv('var.csv')
-
- Beginner
- Posts: 3
- Joined: Mon Jul 26, 2021 3:59 pm
Re: How can i get the position of the tag ?
Hey , Sorry for My Late Response
Thank you so much , this is very helpful information
Good luck with your work
Thank you so much , this is very helpful information
Good luck with your work