doc:crazyflie:crtp:localization
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doc:crazyflie:crtp:localization [2017-02-18 12:11] arnaud created |
doc:crazyflie:crtp:localization [2020-05-12 14:21] (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:// | ||
| + | </ | ||
| + | |||
| ====== Localization CRTP port ====== | ====== Localization CRTP port ====== | ||
| Line 9: | Line 13: | ||
| ===== External Position ===== | ===== External Position ===== | ||
| + | This packet is used to send the Crazyflie position as acquired by an external system. The main use it to send the position acquired by a motion capture system to push it in the Extended Kalman Filter to allow the Crazyflie to calculate an estimate and control its state. | ||
| + | |||
| + | The packet format is: | ||
| + | <code c> | ||
| + | struct CrtpExtPosition | ||
| + | { | ||
| + | float x; // in m | ||
| + | float y; // in m | ||
| + | float z; // in m | ||
| + | } __attribute__((packed)); | ||
| + | </ | ||
| ===== Generic Localization ===== | ===== Generic Localization ===== | ||
| Line 18: | Line 33: | ||
| ^ ID ^ Packet ^ | ^ ID ^ Packet ^ | ||
| - | | 3 | LPP Short packet tunnel | | + | | 2 | LPP Short packet tunnel |
| + | | 3 | Enable emergency stop | | ||
| + | | 4 | Reset emergency stop timeout | ||
| ==== LPP Short packet tunnel ==== | ==== LPP Short packet tunnel ==== | ||
| Line 24: | Line 41: | ||
| Packet used to send LPP short packet to the loco positioning system. The payload is sent to the sytem as an [[doc: | Packet used to send LPP short packet to the loco positioning system. The payload is sent to the sytem as an [[doc: | ||
| + | ==== Emergency stop ==== | ||
| + | |||
| + | When received, the stabilizer loop is set in emergency stop mode which stops all the motors. The loop stays in emergency stop mode until the situation is reset. | ||
| + | |||
| + | ==== Reset emergency stop timeout ==== | ||
| + | |||
| + | At startup the emergency stop timeout is disabled. | ||
| + | |||
| + | The first time this packet is receive, the emergency stop timeout is enabled with a timeout of 1 second. | ||
| + | |||
| + | This packet should then be sent, and received by the Crazyflie, at least once every 1 second otherwise the stabilizer loop will be set in emergency stop and all motors will stop. | ||
doc/crazyflie/crtp/localization.1487416319.txt.gz · Last modified: 2017-02-18 12:11 by arnaud
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