From 2ce9a085129ae7bcf24ffb1e254ad15fbaefd79b Mon Sep 17 00:00:00 2001
From: Kristoffer Richardsson <kristoffer@bitcraze.io>
Date: Wed, 17 May 2017 10:41:05 +0200
Subject: [PATCH] Added position logging to swarm example. Disabled by default.
Closes #48
---
examples/swarmSequence.py | 19 +++++++++++++++++++
1 file changed, 19 insertions(+)
diff --git a/examples/swarmSequence.py b/examples/swarmSequence.py
index f500d5a..96037b5 100644
--- a/examples/swarmSequence.py
+++ b/examples/swarmSequence.py
@@ -110,6 +110,24 @@ def reset_estimator(scf):
wait_for_position_estimator(cf)
+def position_callback(timestamp, data, logconf):
+ x = data['kalman.stateX']
+ y = data['kalman.stateY']
+ z = data['kalman.stateZ']
+ print('pos: ({}, {}, {})'.format(x, y, z))
+
+
+def start_position_printing(scf):
+ log_conf = LogConfig(name='Position', period_in_ms=500)
+ log_conf.add_variable('kalman.stateX', 'float')
+ log_conf.add_variable('kalman.stateY', 'float')
+ log_conf.add_variable('kalman.stateZ', 'float')
+
+ scf.cf.log.add_config(log_conf)
+ log_conf.data_received_cb.add_callback(position_callback)
+ log_conf.start()
+
+
def run_sequence(scf, sequence):
cf = scf.cf
@@ -134,4 +152,5 @@ if __name__ == '__main__':
with Swarm(uris) as swarm:
swarm.parallel(reset_estimator)
+ # swarm.parallel(start_position_printing)
swarm.parallel(run_sequence, args_dict=seq_args)
--
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