From 59219930c116f035d1608215a69f85527d1b608f Mon Sep 17 00:00:00 2001
From: Arnaud Taffanel <arnaud@bitcraze.se>
Date: Mon, 18 Dec 2017 08:37:20 +0100
Subject: [PATCH] Closes #65: Implement support for setting LPS anchor mode
---
lpslib/lopoanchor.py | 12 ++++++++++++
1 file changed, 12 insertions(+)
diff --git a/lpslib/lopoanchor.py b/lpslib/lopoanchor.py
index aa7fb4d..c41e915 100644
--- a/lpslib/lopoanchor.py
+++ b/lpslib/lopoanchor.py
@@ -30,10 +30,14 @@ import struct
class LoPoAnchor():
LPP_TYPE_POSITION = 1
LPP_TYPE_REBOOT = 2
+ LPP_TYPE_MODE = 3
REBOOT_TO_BOOTLOADER = 0
REBOOT_TO_FIRMWARE = 1
+ MODE_TWR = 1
+ MODE_TDOA = 2
+
def __init__(self, crazyflie):
"""
:param crazyflie: A crazyflie object to be used as a bridge to the LoPo
@@ -57,3 +61,11 @@ class LoPoAnchor():
def reboot(self, anchor_id, mode):
data = struct.pack('<BB', LoPoAnchor.LPP_TYPE_REBOOT, mode)
self.crazyflie.loc.send_short_lpp_packet(anchor_id, data)
+
+ def set_mode(self, anchor_id, mode):
+ """
+ Send a packet to set the anchor mode. If the anchor receive the packet,
+ it will change mode and resets.
+ """
+ data = struct.pack('<BB', LoPoAnchor.LPP_TYPE_MODE, mode)
+ self.crazyflie.loc.send_short_lpp_packet(anchor_id, data)
--
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