No calibration with lighthouse v1 [SOLVED]

Topics related to the Lighthouse positioning system, configuration and use
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mousetrapper
Beginner
Posts: 3
Joined: Tue Jun 04, 2019 2:01 am

No calibration with lighthouse v1 [SOLVED]

Post by mousetrapper »

I have the lighthouse deck installed with the latest (2021.06) firmware release installed, the latest cfclient version, and two lighthouse v1 stations within view of the Crazyflie. The Lighthouse tab shows green under 'Receiving' for both base stations but no matter how long I give it, the 'Calibration' status indicators remain red. If I switch to a pair of v2 stations and switch the system mode over to v2, then the deck picks up calibration within 20-30 seconds and everything works fine, but I cannot get it to work with a pair of perfectly functional v1 stations (they track fine in SteamVR). Do you have any idea why this is happening?

Thanks.

Console log shows this:

Code: Select all

SYS: ----------------------------
SYS: Crazyflie 2.1 is up and running!
SYS: Production release 2021.06
SYS: I am 0x203937434848500F00340038 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: Using I2C interface.
IMU: BMI088 Gyro connection [OK].
IMU: BMI088 Accel connection [OK]
IMU: BMP388 I2C connection [OK]
ESTIMATOR: Using Kalman (2) estimator
CONTROLLER: Using PID (1) controller
MTR-DRV: Using brushed motor driver
SYS: About to run tests in system.c.
EEPROM: I2C connection [OK].
STORAGE: Storage check [OK].
IMU: BMI088 gyro self-test [OK]
SYS: Self test passed!
STAB: Wait for sensor calibration...
SYS: Free heap: 19248 bytes
LHFL: Lighthouse bootloader version: 2
STAB: Ready to fly.
LHFL: Bitstream CRC32: 112BC794 [PASS]
LHFL: Firmware version 6 verified, booting deck!
ESTKALMAN: State out of bounds, resetting
ESTKALMAN: State out of bounds, resetting
ESTKALMAN: State out of bounds, resetting
...
cfclient debug window details:

Code: Select all

Cfclient
Cfclient version: 2021.6.1
System: darwin
Python: 3.7.3
Qt: 5.13.2
PyQt: 5.15.5

Interface status
radio: Crazyradio version 0.53
UsbCdc: No information available
udp: None
prrt: No information available

Input readers
PySDL2 (0 devices connected)

Input devices
None

Crazyflie
Connected: radio://0/80/2M
Firmware: 00 (CLEAN)

Decks found
bcLighthouse4: rev=D, adr=0DA15240000000A5

Sensors found
AK8963: 0
LPS25H: 0
BMP388: 1

Sensors tests
MPU6500: 0
AK8963: 0
LPS25H: 0
mousetrapper
Beginner
Posts: 3
Joined: Tue Jun 04, 2019 2:01 am

Re: No calibration with lighthouse v1 [SOLVED]

Post by mousetrapper »

Solved it: Turned out to be a subtly bad lighthouse, which worked well enough with SteamVR but wan't up to driving a drone. Replaced it with another v1 lighthouse and everything works great,
kristoffer
Bitcraze
Posts: 630
Joined: Tue Jun 30, 2015 7:47 am

Re: No calibration with lighthouse v1 [SOLVED]

Post by kristoffer »

Interesting!

I have not seen this one before. I can also see that you did not receive calibration data for the good base station either, maybe the bad one interfered with the good one?

Thanks for sharing!
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