how Crazyflie 2.1 or Crazyflie Bolt 1.1 printf lighthouse's position info, x, y, z

[justinleeyang]

Hi,

how Crazyflie 2.1 or Crazyflie Bolt 1.1 printf lighthouse's position info, x, y, z

[ToveRumar]

Hi @justinleeyang!

Please refer to this documentation about how to set up a logging configuration when using the lib; https://www.bitcraze.io/documentation/repository/crazyflie-lib-python/master/user-guides/sbs_connect_log_param/

If you want your log to be visible when using the python client you can use this user guide to set it up https://www.bitcraze.io/documentation/repository/crazyflie-clients-python/master/userguides/userguide_client/logblocks_tab/

I hope this helps you set up the logging you want for your system!

[justinleeyang]

I have a robotic car with MCU based on Freertos. It communicate with uart. Don't install python cf lib. So need crazyflie output xyz with uart to my car mcu

[ToveRumar]

Thank you for explaining your use case!

In this case I would use either CPX over uart (https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/functional-areas/cpx/) or do it like you described by sending only the positions over uart. There is an example app for doing this here ( https://github.com/knmcguire/crazyflie-firmware/tree/bolt-pos-through-uart/examples/app_uart). There Is also a description on how to set up uart communication to the STM32 here https://www.bitcraze.io/documentation/repository/crazyflie-lib-python/master/development/uart_communication/. I think this documentation can help you put together what you need to achieve your goal!

[justinleeyang]

Thanks, and how to output the position data over stm32's E_TX2 adn E_RX2, Please indicate the detailed steps.

Is this example over E_TX2 adn E_RX2 ?
https://github.com/knmcguire/crazyflie-firmware/tree/bolt-pos-through-uart/examples/app_uart

[justinleeyang]

Thanks, and how to output the position data over stm32's E_TX2 adn E_RX2, Please indicate the detailed steps.

Is this example over E_TX2 adn E_RX2 ?

#define UART_TX_PIN 28 // these might need to be changed
#define UART_RX_PIN 29 // these might need to be changed

https://github.com/knmcguire/crazyflie-firmware/tree/bolt-pos-through-uart/examples/app_uart

[ToveRumar]

Hi @justinleeyang !
No this example uses another set of pins.
If you want to use e_tx2 and e_rx2 they are mapped to PA2 and PA3 on the STM.

These pins are the UART2 pins already so I think you could re-use the setup for UART2 in the AI-deck driver (https://github.com/knmcguire/crazyflie-firmware/blob/bolt-pos-through-uart/src/deck/drivers/src/aideck.c).

While looking around I also found this driver for setting up UART2 for CPX (https://github.com/knmcguire/crazyflie-firmware/blob/bolt-pos-through-uart/src/deck/drivers/src/cpx-host-on-uart2.c). Note that this driver needs to be force included at build time using the menuconfig.