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--- doc:crazyflie:client:pycfclient:index [2017-06-01 16:49]
macke
+++ doc:crazyflie:client:pycfclient:index [2017-12-19 09:11]
arnaud [Anchor identification mode]
@@ Line 220: / Line 220: @@
 ==== Position estimate mode ====
-displays the configured anchor positions and the estimated position of the Crazyflie. Can be used to make sure the system is set up correctly and that the estimated position is reasonable.
+Displays the configured anchor positions and the estimated position of the Crazyflie. Can be used to make sure the system is set up correctly and that the estimated position is reasonable.
 {{ :doc:crazyflie:client:pycfclient:cfclient_position_estimate.png?700 |}}
+  - Plot for X/Y (top view) showing anchors and Crazyflie
+  - Plot for X/Z showing anchors and Crazyflie
+  - Plot for Y/Z showing anchors and Crazyflie
+  - Sets the graph mode
+    * //Position estimate// - Normal viewing mode
+    * //Anchor identification// - Enhanced mode where anchor id and marker becomes larger when Crazyflie is closer
+  - Indicates if anchors are communicating with Crazyflie (i.e anchors are up and running)
+  - Fit and center all data in graphs
+  - Used to set anchor positions (see below)
+When setting the anchor position there's three colors to indicate the status:
+  * //White// - No position exists for this anchor (i.e the position has not been read yet)
+  * //Red// - Position has been read from the anchor and it differs from the currently shown value in the input box
+  * //Green// - Position has been read from the anchor and it is the same as the currently shown value in the input box
+The positions of the anchors is continuously read in the background and as positions comes in or input box values changes the colors will be set accordingly. There's also two buttons used for the settings:
+  * //Get from anchors// - Fills the input boxes with the positions read from the anchors
+  * //Write to anchors// - Writes the currently shown values in the input boxes to the anchors. In order to check that the write has been successful wait about 10s and all the fields should turn green as the positions are read back. If some of the fields are still red, try pressing the button again.
 ==== Anchor identification mode ====
 displays the configured anchor positions. When the crazyflie is close to an anchor this is indicated in the graphs by highlighting it. This mode is useful to identify anchors and verify that the system is correctly configured.
 {{ :doc:crazyflie:client:pycfclient:cfclient_anchor_identification.png?700 |}}
+  - Plot for X/Y (top view) showing anchors and Crazyflie
+  - Plot for X/Z showing anchors and Crazyflie
+  - Plot for Y/Z showing anchors and Crazyflie
+  - Sets the graph mode
+    * //Position estimate// - Normal viewing mode
+    * //Anchor identification// - Enhanced mode where anchor id and marker becomes larger when Crazyflie is closer
+  - Current system mode indication. The system must be in TWR mode for the anchor identification mode to be available.
 ====== ZMQ backends ======

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