Skip to content

update script uart communication #375

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
knmcguire merged 1 commit into from
Jan 9, 2023
Merged

update script uart communication #375

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
28 changes: 21 additions & 7 deletions docs/development/uart_communication.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,7 @@ Once everything is set up you should be able to control the Crazyflie via UART.
Add the parameter `enable_serial_driver=True` to `cflib.crtp.init_drivers()` and connect to the Crazyflie using a serial URI.
The serial URI has the form `serial://<name>` (e.g. `serial://ttyAMA0`, `serial://ttyUSB5`) or if the OS of the controlling device does not provide the name `serial://<device>` (e.g. `serial:///dev/ttyAMA0`).

The following script might give an idea on how a first test of the setup might look like to print the console output of the Crazyflie on the Raspberry pi
The following script might give an idea on how a first test of the setup might look like to print the log variables of the Crazyflie on the Raspberry pi

```python
#!/usr/bin/env python3
Expand All @@ -65,14 +65,12 @@ import time
import cflib.crtp
from cflib.crazyflie import Crazyflie
from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
from cflib.positioning.motion_commander import MotionCommander
from cflib.crazyflie.log import LogConfig
from cflib.crazyflie.syncLogger import SyncLogger

# choose the serial URI that matches the setup serial device
URI = 'serial://ttyAMA0'

# Only output errors from the logging framework
logging.basicConfig(level=logging.ERROR)

def console_callback(text: str):
print(text, end='')

Expand All @@ -81,11 +79,27 @@ if __name__ == '__main__':
cflib.crtp.init_drivers(enable_serial_driver=True)
cf = Crazyflie(rw_cache='./cache')
cf.console.receivedChar.add_callback(console_callback)

lg_stab = LogConfig(name='Stabilizer', period_in_ms=10)
lg_stab.add_variable('stabilizer.roll', 'float')
lg_stab.add_variable('stabilizer.pitch', 'float')
lg_stab.add_variable('stabilizer.yaw', 'float')


with SyncCrazyflie(URI) as scf:
print('[host] Connected, use ctrl-c to quit.')
while True:
time.sleep(1)
with SyncLogger(scf, lg_stab) as logger:
endTime = time.time() + 10
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))

if time.time() > endTime:
break

```

## Troubleshooting
Expand Down