Get LPS Node Position via CF2.0

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HuzayfaaN
Beginner
Posts: 12
Joined: Mon Nov 26, 2018 2:20 pm

Get LPS Node Position via CF2.0

Post by HuzayfaaN » Sun Mar 03, 2019 2:49 pm

Hi,

I am looking at getting the positioning of the nodes, via the CF2.0 and as part of a python script, and printing this information. This would help identify that the nodes are correctly assigned and have been identified prior to a script continuing to run.

I have spend much time looking around and also tried various code to try and achieve this, however I have been unsuccessful and was wondering if this could be achieved and if so how?

Many thanks,
Huzayfaa



kristoffer
Bitcraze
Posts: 110
Joined: Tue Jun 30, 2015 7:47 am

Re: Get LPS Node Position via CF2.0

Post by kristoffer » Mon Mar 04, 2019 1:52 pm

Hi!

The node positions are available through a memory mapping in the memory sub system, https://github.com/bitcraze/crazyflie-l ... em.py#L526.

Use the memory type MemoryElement.TYPE_LOCO2 and the LocoMemory2 class.
The anchor_data member is a dictionary containing mappings from anchor id ==> AnchorData2 objects.

For a (somewhat convoluted) usage example see the Loco Positioning tab in the python client.
https://github.com/bitcraze/crazyflie-c ... ab.py#L317
https://github.com/bitcraze/crazyflie-c ... ab.py#L272
https://github.com/bitcraze/crazyflie-c ... ab.py#L903

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