LOCO定位系统入门教程-使用python脚本异步添加读取日志变量

说明：

• 介绍如何使用python脚本，异步方式添加读取日志变量

步骤：

• 将Crazyflie连接到cfclient，点击客户端的菜单栏上View -> Tabs -> Log TOC，来查看日志变量

  

• 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.syncCrazyflie import SyncCrazyflie

from cflib.crazyflie.log import LogConfig
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 log_stab_callback(timestamp, data, logconf):
    print('[%d][%s]: %s' % (timestamp, logconf.name, data))

def simple_log_async(scf, logconf):
    cf = scf.cf
    cf.log.add_config(logconf)
    logconf.data_received_cb.add_callback(log_stab_callback)
    logconf.start()
    time.sleep(5)
    logconf.stop()

(...)

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')

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

        simple_log_async(scf, lg_stab)

• 运行脚本

python3 connect_log_param.py

• 结果如下

[18101][Stabilizer]: {'stabilizer.roll': -174.58396911621094, 'stabilizer.pitch': 42.82120132446289, 'stabilizer.yaw': 166.29837036132812}