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--- doc:lighthouse:setup [2019-10-09 09:37]
kristoffer
+++ doc:lighthouse:setup [2019-11-29 14:20]
kristoffer
@@ Line 15: / Line 15: @@
 It is possible to setup the SteamVR without a Head Mounted Display (HMD). This allows to setup a minimal system with just two Base stations and one controller or tracker. It can be quite useful when a full VR system is not needed or to setup a system at fairs or conference.
-Follow the guide from Triad: [[http://help.triadsemi.com/steamvr-tracking/steamvr-tracking-without-an-hmd|SteamVR Tracking without an HMD]] (the steps after 14 is optional). This has been tested to work on Windows and Linux.
+Follow the guide from Triad: [[http://help.triadsemi.com/steamvr-tracking/steamvr-tracking-without-an-hmd|SteamVR Tracking without an HMD]] (the steps after 14 is optional). This has been tested to work on Windows, Linux and Mac.
 <WRAP center round info>
 **OSX**
+The osx implementation seems to be a bit shaky, but it is possible to make it work. I used the "macos_beta" flavour.
 The paths in the triad instructions are for Windows. On Mac OSX you will find the files to update in
@@ Line 142: / Line 144: @@
 ===== Space orientation, startup position =====
-The orientation of the flying space will follow the orientation of the OpenVR space but in a more 'robotic' coordinate system (ie. Crazyflie wants Z to point up!).
+The OpenVR uses a different coordinate system than the Crazyflie. The Crazyflie coordinate system is used through out the Bitcraze code, but if you want to convert between the two, the following rotation is done from the OpenVR space to the Crazyflie coordinate system:
-The following rotation is done from the OpenVR space to the Crazyflie coordinated system:
 ^  Crazyflie  ^  OpenVR  ^
 |     X       |   -Z     |
@@ Line 150: / Line 150: @@
 |     Z       |    Y     |
-This allows to easily orient the Crazyflie when setting up the system with an HMD.
+The Lighthouse deck has 4 receivers and can recover its orientation. The Crazyflie can be started in any orientation when using the lighthouse system.
-While the Lighthouse deck has 4 receiver and so can recover its orientation, this is not implemented yet. So, similarly to when flying in the LPS it is very important to start the Crazyflie with a correct orientation. It should be started with the antenna in the direction of X positive:
-{{:doc:lps:crazyflie_isometric_drawing_2.png?300|}}
-The safest way to verify the orientation of the space is to look at the estimated position. In the client you can create a new log block in "settings/logging configuration" containing "stateEstimate.x/y/z". You can then look at it in the plotter and move the Crazyflie around to understand how is X positive oriented:
-{{:doc:lighthouse:estimated_potision.png?400|}}
-Once you have located X positive, you can test if the positioning is working by starting the Crazyflie facing X and using the clients "Position hold" mode, this should drift a little bit (mostly in Z) due to an estimator bug, though you should be able to get a quite stable flight and be able to control the Crazyflie position with the gamepad.
+You can test if the positioning is working by starting the Crazyflie facing X and using the clients "Position hold" mode, this should drift a little bit (mostly in Z) due to an estimator bug, though you should be able to get a quite stable flight and be able to control the Crazyflie position with the gamepad.

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