This callback is called form the Crazyflie API when a Crazyflie has been connected and the TOCs have been downloaded.
(self, link_uri)
| 65 | self.is_connected = True |
| 66 | |
| 67 | def _connected(self, link_uri): |
| 68 | """ This callback is called form the Crazyflie API when a Crazyflie |
| 69 | has been connected and the TOCs have been downloaded.""" |
| 70 | print('Connected to %s' % link_uri) |
| 71 | |
| 72 | # The definition of the logconfig can be made before connecting |
| 73 | self._lg_stab = LogConfig(name='Stabilizer', period_in_ms=10) |
| 74 | self._lg_stab.add_variable('stabilizer.roll', 'float') |
| 75 | self._lg_stab.add_variable('stabilizer.pitch', 'float') |
| 76 | self._lg_stab.add_variable('stabilizer.yaw', 'float') |
| 77 | |
| 78 | # Adding the configuration cannot be done until a Crazyflie is |
| 79 | # connected, since we need to check that the variables we |
| 80 | # would like to log are in the TOC. |
| 81 | try: |
| 82 | self._cf.log.add_config(self._lg_stab) |
| 83 | # This callback will receive the data |
| 84 | self._lg_stab.data_received_cb.add_callback(self._stab_log_data) |
| 85 | # This callback will be called on errors |
| 86 | self._lg_stab.error_cb.add_callback(self._stab_log_error) |
| 87 | # Start the logging |
| 88 | self._lg_stab.start() |
| 89 | except KeyError as e: |
| 90 | print('Could not start log configuration,' |
| 91 | '{} not found in TOC'.format(str(e))) |
| 92 | except AttributeError: |
| 93 | print('Could not add Stabilizer log config, bad configuration.') |
| 94 | |
| 95 | # Start a timer to disconnect in 10s |
| 96 | t = Timer(5, self._cf.close_link) |
| 97 | t.start() |
| 98 | |
| 99 | def _stab_log_error(self, logconf, msg): |
| 100 | """Callback from the log API when an error occurs""" |
nothing calls this directly
no test coverage detected