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Lighthouse Positioning System

The lh command manages the Lighthouse positioning system configuration stored on the Crazyflie. It can read, write and display the base station geometry and calibration data needed for lighthouse-based positioning.

Usage: cfcli lh <COMMAND>

Commands:
  config  Base station geometry and calibration configuration
  help    Print this message or the help of the given subcommand(s)

Background

A Crazyflie configured for Lighthouse positioning needs two pieces of data per base station:

  • Geometry — the base station's pose (origin + rotation matrix) in the flight space. Produced by running an estimation procedure (e.g. cfclient's geometry estimation or a manual measurement).
  • Calibration — the base station's intrinsic sweep parameters (phase, tilt, curve, gibmag/gibphase, ogeemag/ogeephase for each of two sweeps, plus the base station UID). This data is broadcast by the base stations themselves and stored on the Crazyflie.

Both are kept in a dedicated lighthouse memory on the Crazyflie. There are 16 base station slots (IDs 0..15), each marked valid or invalid.

Config

Usage: cfcli lh config <COMMAND>

Commands:
  display  Display lighthouse configuration in human-readable form
  read     Read lighthouse configuration as YAML (to file or stdout)
  write    Write lighthouse configuration from YAML (from file or stdin)

YAML File Format

The format matches the one used by the Python cflib so configurations can be shared with cfclient.

type: lighthouse_system_configuration
version: '2'
systemType: 2
geos:
  0:
    origin: [-0.5228, -0.8784, 2.2364]
    rotation:
      - [ 0.3832, -0.8521,  0.3565]
      - [ 0.5376,  0.5196,  0.6640]
      - [-0.7511, -0.0627,  0.6572]
  1:
    origin: [1.8885, -0.9296, 2.4064]
    rotation:
      - [-0.3296, -0.4936, -0.8048]
      - [ 0.4440, -0.8333,  0.3293]
      - [-0.8332, -0.2488,  0.4939]
calibs:
  0:
    uid: 2360210604
    sweeps:
      - phase: 0.0
        tilt: -0.051
        curve: 0.275
        gibmag: -0.005
        gibphase: 2.281
        ogeemag: -0.184
        ogeephase: 1.847
      - phase: -0.005
        tilt: 0.051
        curve: 0.211
        gibmag: -0.004
        gibphase: 2.219
        ogeemag: 0.073
        ogeephase: 2.213

Top-level fields:

  • type — file type marker, always lighthouse_system_configuration
  • version — file format version, currently '2'
  • systemType — 1 for V1 base stations, 2 for V2
  • geos — map of bs_id -> { origin, rotation }
  • calibs — map of bs_id -> { uid, sweeps[2] }

Either map can be omitted or empty if you only want to read/write one half.

Display

Render the current configuration in human-readable form, either from the Crazyflie or from a YAML file.

cfcli lh config display [-i <FILE>]

Options:

  • -i, --input <FILE> — read from a YAML file instead of the Crazyflie

When --csv is used (the global flag), display emits a long-format CSV with the schema section,bs_id,key,value, e.g.:

section,bs_id,key,value
geo,0,origin_x,-0.5228
geo,0,origin_y,-0.8784
geo,0,origin_z,2.2364
geo,0,rotation_0_0,0.3832
...
cal,0,uid,2360210604
cal,0,sweep0_phase,0.0
cal,0,sweep0_tilt,-0.051
...

The same schema covers both geometry (section=geo) and calibration (section=cal) so consumers can filter with awk -F, or grep.

Display Examples

# Pretty print what's currently on the Crazyflie
cfcli lh config display

# Pretty print a YAML file (no Crazyflie connection)
cfcli lh config display -i my_setup.yaml

# Machine-readable CSV
cfcli lh config display --csv

Read

Read the configuration from the Crazyflie and emit YAML.

cfcli lh config read [-o <FILE>]

Options:

  • -o, --output <FILE> — write YAML to a file. If omitted, the YAML is written to stdout and informational messages go to stderr so the output can be piped directly.

Read iterates all 16 base station slots and includes only those marked valid.

Read Examples

# Save the current config to a file
cfcli lh config read -o my_setup.yaml

# Pipe the YAML somewhere else
cfcli lh config read | tee backup.yaml

# Diff against a known-good file
diff <(cfcli lh config read) my_reference.yaml

Write

Write a configuration from a YAML file (or stdin) to the Crazyflie.

cfcli lh config write [-i <FILE>]

Options:

  • -i, --input <FILE> — read YAML from a file. If omitted, YAML is read from stdin.

All base station slots are written. Slots present in the YAML are uploaded as valid, while slots omitted from the YAML are written as invalid to clear stale configuration. The resulting configuration is then persisted to flash.

Write Examples

# Write a config from a file
cfcli lh config write -i my_setup.yaml

# Pipe YAML in from stdin
cat my_setup.yaml | cfcli lh config write

Copy a Configuration Between Crazyflies

Read from one Crazyflie and write to another by piping read into write, overriding the --uri for each:

cfcli --uri radio://0/80/2M/E7E7E7E7E7 lh config read \
  | cfcli --uri radio://0/80/2M/E7E7E7E7E8 lh config write