Struct Lighthouse 

pub struct Lighthouse { /* private fields */ }

Lighthouse positioning system interface

Provides functionality to receive lighthouse sweep angle data and manage lighthouse base station configuration persistence.

Implementations

impl Lighthouse

pub async fn angle_stream(&self) -> impl Stream<Item = LighthouseAngleData>

Get a stream of lighthouse angle measurements

Returns a Stream that yields LighthouseAngleData whenever lighthouse sweep angle data is received from the Crazyflie. This is typically used for lighthouse base station calibration and geometry estimation.

To enable the angle stream, set the parameter locSrv.enLhAngleStream to 1 on the Crazyflie.

Example

// Enable angle streaming
crazyflie.param.set("locSrv.enLhAngleStream", 1u8).await?;

let mut angle_stream = crazyflie.localization.lighthouse.angle_stream().await;
while let Some(data) = angle_stream.next().await {
    println!("Base station {}: x={:?}, y={:?}",
        data.base_station, data.angles.x, data.angles.y);
}

pub async fn persist_lighthouse_data( &self, geo_list: &[u8], calib_list: &[u8], ) -> Result<bool>

Persist lighthouse geometry and calibration data to permanent storage

Sends a command to persist lighthouse geometry and/or calibration data to permanent storage in the Crazyflie, then waits for confirmation. The geometry and calibration data must have been previously written to RAM via the memory subsystem.

Arguments

• geo_list - List of base station IDs (0-15) for which to persist geometry data
• calib_list - List of base station IDs (0-15) for which to persist calibration data

Returns

• Ok(true) if data was successfully persisted
• Ok(false) if persistence failed
• Err if there was a communication error or timeout (5 seconds)

Example

// Persist geometry for base stations 0 and 1, calibration for base station 0
let success = crazyflie.localization.lighthouse
    .persist_lighthouse_data(&[0, 1], &[0]).await?;

if success {
    println!("Data persisted successfully");
}