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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 ====== | ||
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===== 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 ===== | ||
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^ 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 ==== | ||
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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. | ||