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doc:lighthouse:setup [2019-10-09 16:46]
kristoffer
doc:lighthouse:setup [2019-11-29 14:20]
kristoffer
Line 144: Line 144:
 ===== Space orientation,​ startup position ===== ===== Space orientation,​ startup position =====
  
-The orientation of the flying space will follow the orientation of the OpenVR ​space but in more '​robotic' ​coordinate system ​(ie. Crazyflie ​wants Z to point up!). +The OpenVR ​uses 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 ​ ^ ^  Crazyflie ​ ^  OpenVR ​ ^
 |     ​X ​      ​| ​  ​-Z ​    | |     ​X ​      ​| ​  ​-Z ​    |
Line 152: Line 150:
 |     ​Z ​      ​| ​   Y     | |     ​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 yetSo, 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.
  
doc/lighthouse/setup.txt · Last modified: 2020-05-12 14:35 by kimberly