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doc:crazyflie:client:pycfclient:index [2017-04-18 16:53]
bjorn [How to get flying]
doc:crazyflie:client:pycfclient:index [2020-05-12 14:27] (current)
kimberly
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 +<WRAP center round important 60%>
 +This page has deprecated and moved to the new documentation framework of the main Bitcraze website. Please go to [[https://www.bitcraze.io/documentation/system/]]
 +</WRAP>
 +
 ====== Overview ====== ====== Overview ======
 This page is intended to give an overview on how to use the Crazyflie client, not for installing it. For install instructions go [[https://github.com/bitcraze/crazyflie-clients-python/blob/develop/README.md|here]]. This page is intended to give an overview on how to use the Crazyflie client, not for installing it. For install instructions go [[https://github.com/bitcraze/crazyflie-clients-python/blob/develop/README.md|here]].
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 ===== Logging ===== ===== Logging =====
-TODO+ 
 +The Crazyflie logging framework allows to log the state of Crazyflie variables in real-time. This subsystem is used by the client to show information like pose or battery level. 
 + 
 +The list of log variable can be seen in the "log TOC" tab in the client. 
 + 
 +Variables are logged in block: one log block is a list of variable that are logged at the same time. You can setup custom log blocks that can be plotted in the plotter and saved to file in the log block tab. 
 + 
 +To setup a new log block click on the menu "settings/logging configuration", You then see the following toolbox: 
 + 
 +{{ :doc:crazyflie:client:pycfclient:client_log-configuration_anotated.png |}} 
 + 
 +  - List of log variable in the Crazyflie 
 +  - Log variables in the current log block 
 +  - Add the selected Crazyflie log variable in the log block 
 +  - Remove the selected log block variable from the log block 
 +  - Period at which the variables are sampled and the block is send by the Crazyflie to the client. The minimum possible period is 10ms (100Hz) and it can be set by step of 10ms up to 2550ms. 
 +  - Space taken by the variables in the log block. 
 +  - Name of the new or existing log blocks. You can choose an existing block from the list or type the name of a new one 
 +  - Load existing log block configuration 
 +  - Save log block configuration
  
 ===== Flight settings ===== ===== Flight settings =====
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 The tab can be used in two modes that is selected with the radio buttons to the right The tab can be used in two modes that is selected with the radio buttons to the right
 +
 +To setup the LPS anchor system mode (TWR or TDoA), see the [[doc:lps:configure-mode|Configure LPS positioning mode wirelessly]] documentation.
  
 ==== Position estimate mode ==== ==== 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 |}} {{ :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 ==== ==== 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. 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 |}} {{ :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 ====== ====== ZMQ backends ======
doc/crazyflie/client/pycfclient/index.1492527184.txt.gz · Last modified: 2017-04-18 16:53 by bjorn