crazyfile-python-nokov

[Felix-kkk]

I want to use the Nokov motion capture system to perform positioning for the Crazyflie drone, which does not have additional positioning sensors installed. Is this feasible? Additionally, I hope to give the drone a desired trajectory and have it track that trajectory. Does Crazyflie provide interfaces for controlling speed and acceleration? Thank you

[Bananazooka]

Hi, yes it's feasible! You could check our example here which I think is supported by Nokov.

[Felix-kkk]

I want to send the data from the motion capture system to the drone, and I simulate the data sent like this, why can't I listen to the data of the motion capture system?

import logging
import time

import cflib.crtp
from cflib.crazyflie import Crazyflie
from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
from cflib.crazyflie.log import LogConfig
from cflib.crazyflie.syncLogger import SyncLogger

# URI to the Crazyflie to connect to
uri = 'radio://0/80/2M/E7E7E7E7E7'

logging.basicConfig(level=logging.ERROR)

def simple_log(scf, logconf):
    with SyncLogger(scf, logconf) as logger:
        for log_entry in logger:
            timestamp = log_entry[0]
            data = log_entry[1]
            logconf_name = log_entry[2]
            print('[%d][%s]: %s' % (timestamp, logconf_name, data))
            # break

def simple_connect():
    print("Yeah, I'm connected! :D")
    time.sleep(3)
    print("Now I will disconnect :'(")

if __name__ == '__main__':
    # Initialize the low-level drivers
    cflib.crtp.init_drivers()

    lg_stab = LogConfig(name='stateEstimate', period_in_ms=10)
    lg_stab.add_variable('stateEstimate.x', 'float')
    lg_stab.add_variable('stateEstimate.y', 'float')
    lg_stab.add_variable('stateEstimate.z', 'float')

    with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
        cf = scf.cf

        x = 1
        y = 10
        z = 10
        quat = [1, 0, 0, 0]
        cf.extpos.send_extpose(x, y, z, quat[0], quat[1], quat[2], quat[3])
        simple_log(scf, lg_stab)

    
        # simple_connect()

[gemenerik]

You closed this discussion, how did you fix the problem?