lighthouse_app

app_lighthouse.c

#include <string.h>
#include <stdint.h>
#include <stdbool.h>

#include "app.h"

#include "FreeRTOS.h"
#include "task.h"

#include "debug.h"

#include "lighthouse_core.h"
#include "lighthouse_position_est.h"

baseStationGeometry_t sampleGeoData[1]  = {
  {.valid = true, .origin = {-1.958483,  0.542299,  3.152727, }, .mat = {{0.79721498, -0.004274, 0.60368103, }, {0.0, 0.99997503, 0.00708, }, {-0.60369599, -0.005645, 0.79719502, }, }},
  {.valid = true, .origin = {1.062398, -2.563488,  3.112367, }, .mat = {{0.018067, -0.999336, 0.031647, }, {0.76125097, 0.034269, 0.64755201, }, {-0.648206, 0.012392, 0.76136398, }, }},
};

lighthouseCalibration_t sampleCalibrationData[1] = {
  { // Base station 0
   .valid = true,
    .sweep = {
      {.tilt = -0.047058, .phase = 0.0, .curve = 0.052215, .gibphase = 2.087890, .gibmag = -0.003913, .ogeephase = 0.433105, .ogeemag = -0.049285},
      {.tilt = 0.048065, .phase = -0.005336, .curve = 0.122375, .gibphase = 2.097656, .gibmag = -0.003883, .ogeephase = 0.631835, .ogeemag = -0.034851},
    },
  },
  { // Base station 1
    .valid = true,
    .sweep = {
      {.tilt = -0.051208, .phase = 0.0, .curve = 0.011756, .gibphase = 2.136718, .gibmag = -0.006057, .ogeephase = 2.705078,},
      {.tilt = 0.045623, .phase = -0.004142, .curve = 0.104736, .gibphase = 2.349609, .gibmag = -0.003332, .ogeephase = 0.380859, .ogeemag = -0.240112,},
    },
  },
};



void appMain() {
  lighthousePositionSetGeometryData(0, &sampleGeoData[0]);
  lighthousePositionSetGeometryData(1, &sampleGeoData[1]);
  lighthouseCoreSetCalibrationData(0, &sampleCalibrationData[0]);
  lighthouseCoreSetCalibrationData(1, &sampleCalibrationData[1]);

  while(1) {
    vTaskDelay(M2T(2000));
  }
}

Makefile

APP=1
APP_STACKSIZE=300

CFLAGS += -DDISABLE_LIGHTHOUSE_DRIVER=0
CFLAGS += -DLIGHTHOUSE_FORCE_TYPE=2

PROJ_OBJ += app_lighthouse.o 
CRAZYFLIE_BASE=../..  #fill in with your crazyflie base code
include $(CRAZYFLIE_BASE)/Makefile