Classes
LighthouseBsCalibration
LighthouseBsCalibration()
Container for calibration data of one Lighthouse base station
Class variables
FILE_ID_SWEEPS
FILE_ID_UID
SIZE_BOOL
SIZE_CALIBRATION
SIZE_FLOAT
SIZE_SWEEP
SIZE_UINT_32
Static methods
def from_file_object(file_object)
Methods
def add_mem_data(self, data)
def as_file_object(self)
def dump(self)
def set_from_mem_data(self, data)
LighthouseBsGeometry
LighthouseBsGeometry()
Container for geometry data of one Lighthouse base station
Class variables
FILE_ID_ORIGIN
FILE_ID_ROTATION
SIZE_BOOL
SIZE_FLOAT
SIZE_GEOMETRY
SIZE_VECTOR
yaml_tag
Static methods
def from_file_object(file_object)
Methods
def add_mem_data(self, data)
def as_file_object(self)
def dump(self)
def set_from_mem_data(self, data)
LighthouseCalibrationSweep
LighthouseCalibrationSweep()
Class variables
FILE_ID_CURVE
FILE_ID_GIBMAG
FILE_ID_GIBPHASE
FILE_ID_OGEEMAG
FILE_ID_OGEEPHASE
FILE_ID_PHASE
FILE_ID_TILT
Static methods
def from_file_object(file_object)
Methods
def as_file_object(self)
def dump(self)
LighthouseMemHelper
LighthouseMemHelper(cf)
Helper to access all geometry and calibration data located in crazyflie memory subsystem
Class variables
NR_OF_CHANNELS
Methods
def read_all_calibs(self, read_done_cb)
Read calibration data for all base stations. The result is returned as a dictionary keyed on base station channel (0-indexed) with calibration data as values
def read_all_geos(self, read_done_cb)
Read geometry data for all base stations. The result is returned as a dictionary keyed on base station channel (0-indexed) with geometry data as values
def write_calibs(self, calibration_dict, write_done_cb)
Write calibration data for one or more base stations. Input is a dictionary keyed on base station channel (0-indexed) with calibration data as values. The callback is called with a boolean indicating if all items were successfully written.
def write_geos(self, geometry_dict, write_done_cb)
Write geometry data for one or more base stations. Input is a dictionary keyed on base station channel (0-indexed) with geometry data as values. The callback is called with a boolean indicating if all items were successfully written.
LighthouseMemory
LighthouseMemory(id, type, size, mem_handler)
Memory interface for lighthouse configuration data
Initialize Lighthouse memory
Ancestors (in MRO)
Class variables
CALIB_START_ADDR
GEO_START_ADDR
NUMBER_OF_BASESTATIONS
PAGE_SIZE
SIZE_GEOMETRY_ALL
Methods
def disconnect(self)
def new_data(self, mem, addr, data)
Callback for when new memory data has been fetched
def new_data_failed(self, mem, addr, data)
Callback when a read failed
def read_calib_data(self, bs_id, update_finished_cb, update_failed_cb=None)
Request a read of calibration data for one base station
def read_geo_data(self, bs_id, update_finished_cb, update_failed_cb=None)
Request a read of geometry data for one base station
def write_calib_data(self, bs_id, calibration_data, write_finished_cb, write_failed_cb=None)
Write calibration data for one basestation to the Crazyflie
def write_done(self, mem, addr)
def write_failed(self, mem, addr)
def write_geo_data(self, bs_id, geo_data, write_finished_cb, write_failed_cb=None)
Write geometry data for one base station to the Crazyflie