Issue with MR deck

[tahahmed2001]

I am trying to run code that worked before regarding the MR deck, I am pretty sure that the code should work. However, the logged data for the MR deck shows as all zero. The deck is recognized in cfclient and the system checks for all sensors is [OK]. Any advice would be appreciated.

[krichardsson]

Have you tried to plot the sensor values in the python client, just to make sure there is no problem with your code?

[tahahmed2001]

Plot as into a JSON file, yes, and in that regard other readings, like position, do show measurements. However, I have not plotted as a graph. This is actually a project I did for a class and demoed, and the drone functioned as it was supposed to. I recently bought my own Crazyflie and it doesn't seem to be working for the new drone. I can add pictures if that helps. Thanks.

[tahahmed2001]

here is my client code:

import logging
import time
import json
import numpy as np
import cflib.crtp
from cflib.crazyflie import Crazyflie
from cflib.crazyflie.log import LogConfig
from cflib.utils.multiranger import Multiranger
from cflib.positioning.motion_commander import MotionCommander
from cflib.crazyflie.syncCrazyflie import SyncCrazyflie

uri = 'radio://0/110/2M/E7E7E7E7E7' #bretl-110 #ours-74

# Specify the variables we want to log (all at 100 Hz)
variables = [
    # MR deck measurements
    'ae483log.range_front',
    'ae483log.range_back',
    'ae483log.range_up',
    'ae483log.range_left',
    'ae483log.range_right',
]

class SimpleClient:
    def __init__(self, uri, use_controller=False, use_observer=False):
        self.init_time = time.time()
        self.use_controller = use_controller
        self.use_observer = use_observer
        self.cf = Crazyflie(rw_cache='./cache')
        self.cf.connected.add_callback(self.connected)
        self.cf.fully_connected.add_callback(self.fully_connected)
        self.cf.connection_failed.add_callback(self.connection_failed)
        self.cf.connection_lost.add_callback(self.connection_lost)
        self.cf.disconnected.add_callback(self.disconnected)
        print(f'Connecting to {uri}')
        self.cf.open_link(uri)
        self.is_fully_connected = False
        self.data = {}

    def connected(self, uri):
        print(f'Connected to {uri}')
    
    def fully_connected(self, uri):
        print(f'Fully connected to {uri}')
        self.is_fully_connected = True
        self.cf.param.set_value('kalman.resetEstimation', 1)
        if self.use_controller:
            self.cf.param.set_value('stabilizer.controller', 4)
            self.cf.param.set_value('powerDist.motorSetEnable', 1)
        else:
            self.cf.param.set_value('stabilizer.controller', 1)
            self.cf.param.set_value('powerDist.motorSetEnable', 0)
        if self.use_observer:
            self.cf.param.set_value('ae483par.use_observer', 1)
        else:
            self.cf.param.set_value('ae483par.use_observer', 0)
        self.logconfs = []
        self.logconfs.append(LogConfig(name=f'LogConf0', period_in_ms=10))
        num_variables = 0
        for v in variables:
            num_variables += 1
            if num_variables > 5:
                num_variables = 0
                self.logconfs.append(LogConfig(name=f'LogConf{len(self.logconfs)}', period_in_ms=10))
            self.data[v] = {'time': [], 'data': []}
            self.logconfs[-1].add_variable(v)
        for logconf in self.logconfs:
            try:
                self.cf.log.add_config(logconf)
                logconf.data_received_cb.add_callback(self.log_data)
                logconf.error_cb.add_callback(self.log_error)
                logconf.start()
            except KeyError as e:
                print(f'Could not start {logconf.name} because {e}')
                for v in logconf.variables:
                    print(f' - {v.name}')
            except AttributeError:
                print(f'Could not start {logconf.name} because of bad configuration')
                for v in logconf.variables:
                    print(f' - {v.name}')

    def connection_failed(self, uri, msg):
        print(f'Connection to {uri} failed: {msg}')

    def connection_lost(self, uri, msg):
        print(f'Connection to {uri} lost: {msg}')

    def disconnected(self, uri):
        print(f'Disconnected from {uri}')
        self.is_fully_connected = False

    def log_data(self, timestamp, data, logconf):
        for v in logconf.variables:
            self.data[v.name]['time'].append(timestamp)
            self.data[v.name]['data'].append(data[v.name])

    def log_error(self, logconf, msg):
        print(f'Error when logging {logconf}: {msg}')

    def move(self, x, y, z, yaw, dt):
        print(f'Move to {x}, {y}, {z} with yaw {yaw} degrees for {dt} seconds')
        start_time = time.time()
        while time.time() - start_time < dt:
            self.cf.commander.send_position_setpoint(x, y, z, yaw)
            time.sleep(0.1)

    def move_smooth(self, p1, p2, yaw, speed):
        print(f'Move smoothly from {p1} to {p2} with yaw {yaw} degrees at {speed} meters / second')
        p1 = np.array(p1)
        p2 = np.array(p2)
        distance_from_p1_to_p2 = np.linalg.norm(p2-p1) 
        time_from_p1_to_p2 = distance_from_p1_to_p2/speed 
        start_time = time.time()
        while True:
            current_time = time.time()
            s = (current_time-start_time)/time_from_p1_to_p2 
            p = (((1-s)*p1) + (s*p2))
            self.cf.commander.send_position_setpoint(p[0], p[1], p[2], yaw)
            if s >= 1:
                return
            else:
                time.sleep(0.1)

    def stop(self, dt):
        print(f'Stop for {dt} seconds')
        self.cf.commander.send_stop_setpoint()
        start_time = time.time()
        while time.time() - start_time < dt:
            time.sleep(0.1)

    def disconnect(self):
        self.cf.close_link()

    def write_data(self, filename='logged_data.json'):
        with open(filename, 'w') as outfile:
            json.dump(self.data, outfile, indent=4, sort_keys=False)

###########################################################
omitted project code that just reacts to sensor measurements with direction change
###########################################################

if __name__ == '__main__':
    logging.basicConfig(level=logging.ERROR)
    cflib.crtp.init_drivers()
    
    client = SimpleClient(uri, use_controller=True, use_observer=True)

    while not client.is_fully_connected:
        time.sleep(0.1)
    
    client.stop(1.0)

    # FINAL PROJECT MOVE COMMANDS ---------------------------------------- #
    #                                                                      #
    height_ = 0.5 # equilibrium height                                     #
    client.move_smooth([0.0, 0.0, 0.15], [0.0, 0.0, height_], 0.0, 0.4)    #
    client.move(0.0, 0.0, height_, 0.0, 1.0)                               #
    client.move_avoid(0.0, 0.0, height_, 0.0)                              #
    #                                                                      #
    # -------------------------------------------------------------------- #

    client.disconnect()```

[tobbeanton]

I think Kristoffer ment plot as in the cfclient plotter tab.

[tahahmed2001]

My cfclient looks like this, how do I plot in that way?

[krichardsson]

My cfclient looks like this, how do I plot in that way?

You can find the documentation here