Lighthouse positioning is not reporting any location

Discussions related to positioning systems where the position is calculated outside the Crazyflie and sent to the device using radio, including MoCap systems
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Yoyasp
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Posts: 18
Joined: Mon Jan 14, 2019 2:41 am

Lighthouse positioning is not reporting any location

Post by Yoyasp » Wed Apr 17, 2019 11:21 am

Dear team,

Im currently stuck trying to get my lighthouse setup to work...
Whenever i connect to the CF it shows each axis as either 100 or -100 (the max bounds)
lighthouse.PNG
Everything is working fine with my VIVE, and i got the coords from the python script:

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{.origin = {-3.539751, 2.505963, -1.972867, }, .mat = {{-0.837010, 0.280634, -0.469744, }, {-0.090894, 0.775235, 0.625099, }, {0.539586, 0.565911, -0.623371, }, }},
{.origin = {2.169446, 2.587589, 1.957343, }, .mat = {{0.742896, -0.279863, 0.608098, }, {-0.087531, 0.860001, 0.502730, }, {-0.663660, -0.426704, 0.614394, }, }},
The client console shows the following logs:

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SYS: Crazyflie 2.1 is up and running!
SYS: Build 48:ebf447ee94f5 (2019.02 +48) MODIFIED
SYS: I am 0x203937434848500F001E0046 and I have 1024KB of flash!
CFGBLK: v1, verification [OK]
DECK_CORE: 1 deck(s) found
DECK_CORE: Calling INIT on driver bcLighthouse4 for deck 0
IMU: BMI088 Gyro I2C connection [OK].
IMU: BMI088 Accel I2C connection [OK]
IMU: BMP388 I2C connection [OK]
ESTIMATOR: Using Kalman (2) estimator
CONTROLLER: Using PID (1) controller
EEPROM: I2C connection [OK].
STAB: Wait for sensor calibration...
SYS: Free heap: 13368 bytes
LH: Lighthouse bootloader version: 0
LH: Fail comparing begining
LH: Fail comparing end
LH: Deck has version 0 and we embeed version 1
LH: Updating deck with embedded version!
LH: FW updated [FAILED]
LH: Firmware version 0 verified, booting deck!
STAB: Ready to fly.
Flashing the CF with new firmware including the lighthouse geometry was no problem, and when i reboot the CF the red and blue LED's from the lighthouse deck both light up shortly.

Can anyone help me get an accurate location?



tobias
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Location: Sweden

Re: Lighthouse positioning is not reporting any location

Post by tobias » Thu Apr 18, 2019 6:48 am

How does the LED sequence on the lighthouse deck look like? During normal boot red and blue led should go on and after that red should turn off so that only blue is lit.

Do you get any reasonable values from the lighthouse.angleXX logging variables?

Yoyasp
Beginner
Posts: 18
Joined: Mon Jan 14, 2019 2:41 am

Re: Lighthouse positioning is not reporting any location

Post by Yoyasp » Thu Apr 18, 2019 9:12 am

Hi Tobias,

Thanks for your quick response.
I have 2 Lighthouse decks: on one of the decks the lights both turn off, on the other both stay lit... (Its the decks, ive cross-checked with the drones)
What does each led say?

Also, the angle logs stay at 0.

Thanks in advance!

Yoyasp
Beginner
Posts: 18
Joined: Mon Jan 14, 2019 2:41 am

Re: Lighthouse positioning is not reporting any location

Post by Yoyasp » Thu Apr 18, 2019 9:58 am

Latest console log:

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EEPROM: I2C connection [OK].
SYS: ----------------------------
SYS: Crazyflie 2.1 is up and running!
SYS: Build 48:ebf447ee94f5 (2019.02 +48) MODIFIED
SYS: I am 0x203937434848501700350046 and I have 1024KB of flash!
CFGBLK: v1, verification [OK]
DECK_CORE: 1 deck(s) found
DECK_CORE: Calling INIT on driver bcLighthouse4 for deck 0
IMU: BMI088 Gyro I2C connection [OK].
IMU: BMI088 Accel I2C connection [OK]
IMU: BMP388 I2C connection [OK]
ESTIMATOR: Using Kalman (2) estimator
CONTROLLER: Using PID (1) controller
EEPROM: I2C connection [OK].
STAB: Wait for sensor calibration...
SYS: Free heap: 13368 bytes
LH: Lighthouse bootloader version: 2
LH: Firmware version 1 verified, booting deck!
STAB: Ready to fly.

arnaud
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Re: Lighthouse positioning is not reporting any location

Post by arnaud » Wed Apr 24, 2019 7:28 am

Hi,

The latest log looks good.

The blue LED means that the FPGA has booted and the RED LED means that the fpga is in bootloader mode, the YELLOW LED means that the bootloader is busy doing something. When in firmware mode, the blue led should be lit but none of the other leds are currently controlled.

The board starts in bootloader mode, the Crazyflie checks the firmware and then boots the board in firmware mode so the sequence you are supposed to see is:
- blue ON, red ON, yellow OFF # Bootloader IDLE, if stuck here the communication to the bootloader is not working well
- blue ON, red ON, yellow ON # Checking firmware version or flashing new firmware
- blue OFF, red OFF, yellow OFF # FPGA rebooting, if stuck there the firmware image is bad
- blue ON, red OFF, yellow OFF # Firmware mode

Once in firmware mode, the interesting log variables to look at in order to debug if angles are received from the lighthouse are "lighthouse.angle0x/0y/1x/1y", all 4 angles should be received in order for a position to be calculated. You can also look at the variable "lighthouse.serRt" variable that shows how many pulse per seconds are received from the FPGA (with 2 lighthouse 1 you should have 360 pulses per sensor, so up to 1440 pulses per seconds).

Yoyasp
Beginner
Posts: 18
Joined: Mon Jan 14, 2019 2:41 am

Re: Lighthouse positioning is not reporting any location

Post by Yoyasp » Wed Apr 24, 2019 11:12 am

Yeah, so after close inspection it looks like the yellow led also comes on for the tiniest amount of time, then all the leds stay off.
So it would appear my firmware image is malfunctioning. Is that the lighthouse.bin file?
Is there a way i can rebuild that?

Thanks for your replies!

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