Unable to get any geometry data from lighthouse v2 (valve)
Posted: Mon Dec 07, 2020 4:12 pm
Hey there,
we have troubles getting V2 Lighthouse (Valve) basestation calibration data with our Crazyflie 2.1 + Lighthouse deck.
================
edit: Jump to post 3
for latest updates.
================
We plugged in the 2 basestations to the power outlet.
We get a green led light in the basestations.
We flashed our crazyflies with the latest master as well as with the state of the commit sha 463110b1aae6166fdecdcfca4d3bc64532e949bc.
When we start the crazyflie we get two blue leds at the back, one red led blinking right front and one blue led on the lighthouse deck itself.
With the latest master we got stuck by executing the command "get_geometry".
On the console we get the following text:
python3 get_bs_geometry.py --uri radio://0/80/2M/E7E7E7E7E2
Connecting to radio://0/80/2M/E7E7E7E7E2
Connected to radio://0/80/2M/E7E7E7E7E2
Reading sensor data...
With the state of 463110b1aae6166fdecdcfca4d3bc64532e949bc we do not get stuck by executing the command "get_geometry" but we do not get any reasonable calibration data (only 1s and 0s)
python3 get_bs_geometry.py --uri radio://0/80/2M/E7E7E7E7E2
Connecting to radio://0/80/2M/E7E7E7E7E2
Connected to radio://0/80/2M/E7E7E7E7E2
Reading sensor data...
Estimating position of base stations...
Could not find valid solution for base station 0
{.origin = {0.000000, 0.000000, 0.000000, }, .mat = {{1.000000, 0.000000, 0.000000, }, {0.000000, 1.000000, 0.000000, }, {0.000000, 0.000000, 1.000000, }, }},
Could not find valid solution for base station 1
{.origin = {0.000000, 0.000000, 0.000000, }, .mat = {{1.000000, 0.000000, 0.000000, }, {0.000000, 1.000000, 0.000000, }, {0.000000, 0.000000, 1.000000, }, }},
We tried to plot the raw angles (lighthouse.rawAngle0xlh2 ...) but they only show a straight line at 0 and do not change when the crazyflie is moved.
When flashing the crazyflie we used the tools/make/config.mk.example, renamed it to config.mk and added the following two lines:
CFLAGS += -DISABLE-LIGHTHOUSE-DRIVER=0
CFLAGS += -DLIGHTHOUSE_FORCE_TYPE=2
After flashing and starting, we get the following in the cfclient console:
ESTKALMAN: State out of bounds, resetting
SYS: ----------------------------
SYS: Crazyflie 2.1 is up and running!
SYS: Build 123:0bda4718c448 (2020.09 +123) CLEAN
SYS: I am 0x203336473152500700240027 and I have 1024KB of flash!
CFGBLK: v1, verification [OK]
DECK_CORE: 2 deck(s) found
DECK_CORE: Calling INIT on driver bcLedRing for deck 0
DECK_CORE: Calling INIT on driver bcLighthouse4 for deck 1
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
MTR-DRV: Using brushed motor driver
EEPROM: I2C connection [OK].
STORAGE: Storage check [OK].
IMU: BMI088 gyro self-test [OK]
STAB: Wait for sensor calibration...
SYS: Free heap: 20304 bytes
LHFL: Lighthouse bootloader version: 2
STAB: Ready to fly.
LHFL: Firmware version 5 verified, booting deck!
Looking forward for help.
we have troubles getting V2 Lighthouse (Valve) basestation calibration data with our Crazyflie 2.1 + Lighthouse deck.
================
edit: Jump to post 3
for latest updates.
================
We plugged in the 2 basestations to the power outlet.
We get a green led light in the basestations.
We flashed our crazyflies with the latest master as well as with the state of the commit sha 463110b1aae6166fdecdcfca4d3bc64532e949bc.
When we start the crazyflie we get two blue leds at the back, one red led blinking right front and one blue led on the lighthouse deck itself.
With the latest master we got stuck by executing the command "get_geometry".
On the console we get the following text:
python3 get_bs_geometry.py --uri radio://0/80/2M/E7E7E7E7E2
Connecting to radio://0/80/2M/E7E7E7E7E2
Connected to radio://0/80/2M/E7E7E7E7E2
Reading sensor data...
With the state of 463110b1aae6166fdecdcfca4d3bc64532e949bc we do not get stuck by executing the command "get_geometry" but we do not get any reasonable calibration data (only 1s and 0s)
python3 get_bs_geometry.py --uri radio://0/80/2M/E7E7E7E7E2
Connecting to radio://0/80/2M/E7E7E7E7E2
Connected to radio://0/80/2M/E7E7E7E7E2
Reading sensor data...
Estimating position of base stations...
Could not find valid solution for base station 0
{.origin = {0.000000, 0.000000, 0.000000, }, .mat = {{1.000000, 0.000000, 0.000000, }, {0.000000, 1.000000, 0.000000, }, {0.000000, 0.000000, 1.000000, }, }},
Could not find valid solution for base station 1
{.origin = {0.000000, 0.000000, 0.000000, }, .mat = {{1.000000, 0.000000, 0.000000, }, {0.000000, 1.000000, 0.000000, }, {0.000000, 0.000000, 1.000000, }, }},
We tried to plot the raw angles (lighthouse.rawAngle0xlh2 ...) but they only show a straight line at 0 and do not change when the crazyflie is moved.
When flashing the crazyflie we used the tools/make/config.mk.example, renamed it to config.mk and added the following two lines:
CFLAGS += -DISABLE-LIGHTHOUSE-DRIVER=0
CFLAGS += -DLIGHTHOUSE_FORCE_TYPE=2
After flashing and starting, we get the following in the cfclient console:
ESTKALMAN: State out of bounds, resetting
SYS: ----------------------------
SYS: Crazyflie 2.1 is up and running!
SYS: Build 123:0bda4718c448 (2020.09 +123) CLEAN
SYS: I am 0x203336473152500700240027 and I have 1024KB of flash!
CFGBLK: v1, verification [OK]
DECK_CORE: 2 deck(s) found
DECK_CORE: Calling INIT on driver bcLedRing for deck 0
DECK_CORE: Calling INIT on driver bcLighthouse4 for deck 1
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
MTR-DRV: Using brushed motor driver
EEPROM: I2C connection [OK].
STORAGE: Storage check [OK].
IMU: BMI088 gyro self-test [OK]
STAB: Wait for sensor calibration...
SYS: Free heap: 20304 bytes
LHFL: Lighthouse bootloader version: 2
STAB: Ready to fly.
LHFL: Firmware version 5 verified, booting deck!
Looking forward for help.