frc3005 / marvelmind.py

marvelmind.py

marvelmind.py includes small python class based on threading.Thread for receiving and parsing coordinates data from Marvelmind mobile beacon by USB/serial port. example.py is an example of use. Written by Alexander Rudykh. Support: [email protected]

Download

Notes about using the example:

1. You should achieve a good tracking before using the example.
   Please refer to operating manual for details: https://marvelmind.com/pics/marvelmind_navigation_system_manual.pdf
   
2. When you finish build the map, you can disconnect modem from the PC and connect to any USB charger. Then you can connect a mobile beacon to the PC for receiving location data.
   
3. You should close the dashboard on the PC where you run the example, because dashboard and the example can't share the serial port.

Attributes:

adr - address of mobile beacon (from Dashboard) for data filtering. If it is None, every read data will be appended to buffer.

Default value: None

tty - serial port device name (physical or USB/virtual). It should be provided as an argument:

• /dev/ttyACM0 - typical for Linux

• /dev/tty.usbmodem1451 - typical for Mac OS X

baud - baudrate. Should be match to baudrate of hedgehog-beacon

Default value: 9600

maxvaluescount - maximum count of measurements of coordinates stored in buffer

Default value: 3

valuesUltrasoundPosition - buffer of US measured data (address of device, x, y, z (meters), angle (1/10 degree), timestamp (seconds)): [adr, x, y, z, ang, timestamp]

valuesImuRawData - buffer of IMU raw measures (accelerometer, gyroscope, compass)

valuesImuData - buffer of IMU and US based measures (position, angular position (quaternion), velocities, accelerations): [x, y, z, qw, qx, qy, qz, vx, vy, vz, ax, ay, az, timestamp]

debug - debug flag which activate console output

Default value: False

pause - pause flag. If True, class would not read serial data

terminationRequired - If True, thread would exit from main loop stop

Methods:

position(self) Return last measured data in array [x, y, z, timestamp]

distances(self) Return raw distances in array [hedge, beacon0, distance0, beacon1, distance1, beacon2, distance2, beacon3, distance3, timestamp]

raw_imu(self) Return raw IMU (accelerometer, gyro, magnetometer) data in array [AX,AY,AZ, GX,GY,GZ, MX,MY,MZ, timestamp]

imu_fusion(self) Return IMU fusion (position, quaternion, velocity, acceleration) data in array [X,Y,Z, QW,QX,QY,QZ, VX,VY,VZ, AX,AY,AZ, timestamp]

telemetry(self) Return telemetry (battery voltage, RSSI) data in array [vbat, RSSI]

quality(self) Return location quality data in array [address, quality]

waypoint(self) Return last received waypoint in array [type, index, total_number, param1, param2, param3]

run(self) Main loop

stop(self) Request to stop main loop and close serial port

print_position(self) Print last measured position in default format

print_distances(self) Print last measured raw distances in default format

print_raw_imu(self) Print last raw IMU data (accelerometer, gyro, magnetometer) in default format

print_imu_fusion(self) Print last IMU fusion data (position, orientation quaternion, velocity, acceleration) in default format

print_raw_imu(self) Print last raw IMU data (accelerometer, gyro, magnetometer) in default format

print_telemetry(self) Print telemetry data (battery voltage, RSSI) in default format

print_quality(self) Print positioning quality data (percents) in default format

print_waypoint(self) Print last received waypoint in default format