def __init__(self, uri, geos, calibs):
self._event = Event()
with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
writer = LighthouseConfigWriter(scf.cf, nr_of_base_stations=2)
writer.write_and_store_config(self._data_written,
geos=geos,
calibs=calibs)
self._event.wait()
def writeBaseStationData(self, geometryOne, geometryTwo):
geo_dict = {0: geometryOne, 1: geometryTwo}
helper = LighthouseMemHelper(self.crazyflie.cf)
writer = LighthouseConfigWriter(self.crazyflie.cf,
nr_of_base_stations=2)
self.write(lambda: helper.write_geos(geo_dict, self.writeComplete))
self.write(lambda: writer.write_and_store_config(self.writeComplete,
geos=geo_dict,
calibs=calibration.
CALIBRATION_DATA))
exceptionUtil.checkInterrupt()
bs2calib.sweeps[1].gibmag = 4.51
bs2calib.sweeps[1].gibphase = 5.51
bs2calib.sweeps[1].ogeemag = 6.51
bs2calib.sweeps[1].ogeephase = 7.51
bs2calib.uid = 9876
bs2calib.valid = True
calib_dict = {0: bs1calib, 1: bs2calib}
# Note: base station ids (channels) are 0-indexed
geo_dict = {0: geometryOne, 1: geometryTwo}
write(lambda: helper.write_geos(geo_dict, writeComplete))
write(lambda: helper.write_calibs(calib_dict, writeComplete))
writer = LighthouseConfigWriter(scf.cf, nr_of_base_stations=2)
writer.write_and_store_config(writeComplete,
geos=geo_dict,
calibs=calib_dict)
#
# print()
# readEvent.clear()
# helper.read_all_geos(geoDataReady)
# readEvent.wait()
#
# # time.sleep(1.0)
# print()
# print()
# print()
start_position_printing(scf)
reset_estimator(scf)
while True: