LOCO定位系统入门教程-使用python脚本读取和设置参数

说明：

• 介绍如何使用python脚本，读取和设置参数

步骤：

• 将Crazyflie连接到cfclient，点击客户端的菜单栏上View -> Tabs -> Parameters，来查看参数

• 新建一个python脚本connect_log_param.py

• 代码如下

import logging
import time

import cflib.crtp
from cflib.crazyflie import Crazyflie
from cflib.crazyflie.log import LogConfig
from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
from cflib.crazyflie.syncLogger import SyncLogger

# URI to the Crazyflie to connect to
uri = 'radio://0/80/2M/E7E7E7E7E7'

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


def param_stab_est_callback(name, value):
    print('The crazyflie has parameter ' + name + ' set at number: ' + value)


def simple_param_async(scf, groupstr, namestr):
    cf = scf.cf
    full_name = groupstr + '.' + namestr

    cf.param.add_update_callback(group=groupstr, name=namestr,
                                 cb=param_stab_est_callback)
    time.sleep(1)
    cf.param.set_value(full_name, 2)
    time.sleep(1)
    cf.param.set_value(full_name, 1)
    time.sleep(1)


def log_stab_callback(timestamp, data, logconf):
    ...
def simple_log_async(scf, logconf):
    ...
def simple_log(scf, logconf):
    ...
def simple_connect():
    ...

if __name__ == '__main__':
    # Initialize the low-level drivers
    cflib.crtp.init_drivers()

    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')

    group = 'stabilizer'
    name = 'estimator'

    with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
        simple_param_async(scf, group, name)

• 运行脚本

python3 connect_log_param.py

• 结果如下

The crazyflie has parameter stabilizer.estimator set at number: 1
The crazyflie has parameter stabilizer.estimator set at number: 2
The crazyflie has parameter stabilizer.estimator set at number: 1