This repos is an out-of-tree deck driver for the Crazyflie lighthouse deck.
It implements quick-and-dirty proof of concept positioning for lighthouse V2 basestations using the new lighthouse deck firmware.
Warning: This implementation is just a proof-of-concept, it is noisy and the measurement ii full of outliers. A proper implementation will be done in the official Crazyflie firmware.
The tracking is done with two SteamVR basestation V2 in modes 1 and 2.
If you want to position the Crazyflie, you can get the basestation geometry from
SteamVR using the script python tools/get_bs_position.py and copy-paste the
result in ```src/lh2.c``. This is a similar setup as for the Crazyflie in
Lighthouse V1.
The repos needs to be clonned with --recursive. If not, type git submodule update --init --recursive to get all submodules.
Then, you can build and flash it with make && make cload.
You can see the elevation and azimuth measurement in the log variables lh2.elevation* and lh2.azimuth*. If you have copied the correct basestation geometry earlier, you can see the lighthouse measured position in lh2.[x,y,z]. The position measurement is sent to the kalman filter so you can also fly autonomously.
This is a very naive implementation of LH2 pulse tracking and positioning so, as noted earlier, the resulting positioning is noisy and not very stable. Furthermore this demo only works with basestation in mode 1 and 2 and the orientation of the Crazyflie (yaw) is not measured so you should start facing X.
Loss of signal from one basestation is not handled at all so the Crazyflie should see both basestation at all time.