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Hi I just flashed the lighthouse deck code to FPGA. Flashing was succceful however after I run test_frame.py the result is following format There is a 4 sensor on the board however only there of them shown in the output of the pyton script. I am just wondering any reason for that.

Also when I turn decodeV2_cf.py the result I got it
....bad workspace
....bad workspace
....bad workspace

Sensor: 2 TS:9dd19b Width: 102 Chan: None offset: 0 BeamWord:0bee0
Sensor: 1 TS:9dd5ae Width: 103 Chan: 1(1) offset: 41426 BeamWord:117f3
Sensor: 0 TS:9dd5cd Width: 102 Chan: 1(1) offset: 0 BeamWord:1f353

Sensor: 2 TS:a04be2 Width: 11d Chan: None offset: 0 BeamWord:1ef47
Sensor: 1 TS:a04c63 Width: 127 Chan: 1(1) offset: 81791 BeamWord:10a52
Sensor: 0 TS:a04e2a Width: 11d Chan: 1(1) offset: 0 BeamWord:09949

Sensor: 2 TS:a522b5 Width: 101 Chan: None offset: 0 BeamWord:1b5dd
Sensor: 1 TS:a526c2 Width: 107 Chan: 1(0) offset: 41429 BeamWord:13ccf
Sensor: 0 TS:a526ea Width: fb Chan: 1(0) offset: 0 BeamWord:13c67

Sensor: 2 TS:a79cc3 Width: 11d Chan: None offset: 0 BeamWord:189dd
Sensor: 1 TS:a79d45 Width: 124 Chan: 1(0) offset: 81781 BeamWord:07471
Sensor: 0 TS:a79f09 Width: 114 Chan: 1(0) offset: 0 BeamWord:127d7

Hi!

I have also seen some times that we don't seem to get any data from one of the sensors. It is possible that it is related to some sort of initialization problem but I don't know yet. It usually works after a reboot of the deck. I did not see this problem with the previous FPGA version (that does not support lighthouse V2)
The other possible explanation is that the sensor actually is broken.

"bad workspace" means that the decoding logic could not make sens of the data it got from the FPGA, it could be caused by things like occlusion, bad reception, reflections or interference from other light sources.

The problem is hopefully fixed in https://github.com/bitcraze/lighthouse- ... ses/tag/V5
https://github.com/bitcraze/crazyflie-f ... e2b5025254

I forget to mention I am trying to use Lighthouse V2 with FPGA Deck. Are they not comparable yet? Thank you.

FWIW: The version 5 update fixed the problems I was fighting with my V1 system. Power cycles are a none issue now, but were highly problematic before, and resulted in a number of broken propellers.

The FPGA binary is compatible with LH2. Basic functionality in the Crazyflie is also implemented, but there is not yet support for the factory calibration data which results in largeish errors.

issue solved sensor 3 was broken not working