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(#92) add lighthouse deck poplink
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@knmcguire
knmcguire committed Aug 10, 2021
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6 changes: 5 additions & 1 deletion src/_data/poplink.yml
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Expand Up @@ -31,5 +31,9 @@ poplinks:
sd-card-deck:
title: Micro SD card deck
default-link: /products/micro-sd-card-deck/
content: sd-card-deck.md
content: sd-card-deck.md
lighthouse-deck:
title: Lighthouse positioning deck
default-link: /products/lighthouse-positioning-deck/
content: lighthouse-deck.md

11 changes: 11 additions & 0 deletions src/_poplink/lighthouse-deck.md
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@@ -0,0 +1,11 @@
[Buy in store](https://store.bitcraze.io/products/lighthouse-positioning-deck)

[Product Page](/products/lighthouse-positioning-deck)

[The Lighthouse Positioning System](/documentation/system/positioning/ligthouse-positioning-system/)

[Lighthouse Tutorial](/documentation/tutorials/getting-started-with-lighthouse/)

[Other deck compatibility](/documentation/system/platform/cf2-expansiondecks/#deck---deck)

[Technical details](/documentation/repository/crazyflie-firmware/master/functional-areas/lighthouse/)
2 changes: 1 addition & 1 deletion src/buy/buyers-guide.md
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Expand Up @@ -338,7 +338,7 @@ maintained up to a minute.
{% row_text %}
The Lighthouse positioning system is based on the Lighthouse base station. It offers
good accuracy and very good precision tracking. The Crazyflie pose is calculated
in the Crazyflie itself, which allows to develop completely autonomous flight.
in the Crazyflie itself with the {% poplink lighthouse-deck %}, which allows to develop completely autonomous flight.
The precision is in the millimeter range and the accuracy in the decimeter range.
The lighthouse positioning is well suited to implement tracking in small indoor
space.
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2 changes: 1 addition & 1 deletion src/documentation/lighthouse.md
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Expand Up @@ -10,7 +10,7 @@ redirects:
## An affordable positioning system for your research and classes
------

The lighthouse system is our latest high-precision method of positioning on the Crazyflie 2.X. The [Lighthouse Base Stations](https://store.bitcraze.io//products/lighthouse-v2-base-station/) emit infrared light which is detected by our [Lighthouse positioning deck](https://store.bitcraze.io/collections/positioning/products/lighthouse-positioning-deck). This enables the crazyflie to calculate its own position on board.
The lighthouse system is our latest high-precision method of positioning on the Crazyflie 2.X. The [Lighthouse Base Stations](https://store.bitcraze.io//products/lighthouse-v2-base-station/) emit infrared light which is detected by our {% poplink lighthouse-deck %}. This enables the crazyflie to calculate its own position on board.

#### Tutorial
Did you just receive your Lighthouse system? Go do our Getting started tutorial!
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12 changes: 6 additions & 6 deletions src/documentation/system/platform/cf2-expansiondecks.md
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Expand Up @@ -19,7 +19,7 @@ Here is a list of expansion decks that are available for the Crazyflie 2.X:
| {% id_link product-bigquad-deck%}|EARLY ACCESS Expansion deck to build a bigger quad| [datasheet](/documentation/hardware/big_quad_deck/big_quad_deck-datasheet.pdf), [schematics](/documentation/hardware/big_quad_deck/bigquad-rev-c.pdf) | {% id_link bq-deck-build %}|
| {% poplink sd-card-deck %}|Expansion deck to read, write files to SD-card| [datasheet](/documentation/hardware/sd_card_deck/sd_card_deck-datasheet.pdf), [schematics](/documentation/hardware/sd_card_deck/sdcard_revb.pdf) | [Data Logging](/documentation/repository/crazyflie-firmware/master/userguides/decks/micro-sd-card-deck/) |
| {% poplink z-ranger-deck %}|Expansion deck for precise height control.| [datasheet](/documentation/hardware/z_ranger_deck_2/z_ranger_deck_2-datasheet.pdf), [schematics](/documentation/hardware/z_ranger_deck_2/z-ranger_v2_reva.pdf) | |
| {% id_link product-lighthouse-deck %}|Expansion deck that supports the SteamVR Lighthouse positioning| [datasheet](/documentation/hardware/lighthouse_deck/lighthouse_deck-datasheet.pdf), [schematics](/documentation/hardware/lighthouse_deck/lighthouse_deck-datasheet.pdf) | {% id_link lh-deck-other-hardware %} |
| {% poplink lighthouse-deck %}|Expansion deck that supports the SteamVR Lighthouse positioning| [datasheet](/documentation/hardware/lighthouse_deck/lighthouse_deck-datasheet.pdf), [schematics](/documentation/hardware/lighthouse_deck/lighthouse_deck-datasheet.pdf) | {% id_link lh-deck-other-hardware %} |
| {% id_link product-motion-capture-marker-deck %}|Expansion deck where motion capture markers can easily be mounted|[datasheet](/documentation/hardware/passive_marker_deck/passive_marker_deck-datasheet.pdf), [schematics](/documentation/hardware/passive_marker_deck/passive-marker-deck-revc.pdf) | |
| {% id_link product-active-marker-deck %}|Expansion deck with active IR LED for motion capture markers | [datasheet](/documentation/hardware/active_marker_deck/active_marker_deck-datasheet.pdf), [schematics](/documentation/hardware/active_marker_deck/active-marker-deck_revd.pdf)| |
| {% poplink loco-positioning-deck %}|Expansion deck for the Loco positioning system | [datasheet](/documentation/hardware/loco_deck/loco_deck-datasheet.pdf), [schematics](/documentation/hardware/loco_deck/loco_deck_revd.pdf) | [Modes explanation](/documentation/repository/crazyflie-firmware/master/userguides/decks/active-marker-deck/)|
Expand Down Expand Up @@ -112,7 +112,7 @@ Deck info
| 0xBC | 0x0D | bcMocap | Mocap marker deck | 1.6g | 0mA | Above | [link](https://store.bitcraze.io/products/motion-capture-marker-deck) |
| 0xBC | 0x0E | bcZRanger2 | {% poplink z-ranger-deck %} | 1.3g | ~15mA | Under | [link](https://store.bitcraze.io/products/z-ranger-deck-v2) |
| 0xBC | 0x0F | bcFlow2 | {% poplink flow-deck %} | 1.6g | ~40mA | Under | [link](https://store.bitcraze.io/products/flow-deck-v2) |
| 0xBC | 0x10 | bcLighthouse4 | Lighthouse-4 | 2.7g | ~40mA | Above | [link](https://store.bitcraze.io/products/lighthouse-positioning-deck) |
| 0xBC | 0x10 | bcLighthouse4 | {% poplink lighthouse-deck %} | 2.7g | ~40mA | Above | [link](https://store.bitcraze.io/products/lighthouse-positioning-deck) |
| 0xBC | 0x11 | bcActiveM | Active marker deck | 3.3g | ~40mA | Above | [link](https://store.bitcraze.io/products/active-marker-deck) |
| 0xBC | 0x12 | bcAI | AI deck | 4.4g | depending on deck app | Above | [link](https://store.bitcraze.io/products/ai-deck-1-1) |
|------|------|---------------|--------------------|--------|----------------------------|----------------|--------------------------------------------------------------------------|
Expand Down Expand Up @@ -145,7 +145,7 @@ two decks where the connections collide.
| **bcOA** | | | X | X | | | | | | | | | | | | VCC |
| **{% poplink multi-ranger-deck%}** | | | X | X | | | | | | | | | | | | VCOM |
| **bcMocap** | | | | | | *(X)* | *(X)* | | | | | | | | | N/A |
| **bcLighthouse4** | X | X | X | X | | | | | | | | | | | | N/A |
| **{% poplink lighthouse-deck %}** | X | X | X | X | | | | | | | | | | | | N/A |
| **bcActiveM** | | | X | X | | | | | | | | | | | | N/A |
| **bcAI** | X | X | X | X | X | | | X | X | X | | | | | | VCOM |
|---------------------------|-------|-------|-------|-------|----------|----------|----------|---------|-------|-------|-------|-------|-------|----------|----------|------|
Expand All @@ -170,7 +170,7 @@ This table shows which deck that works on which platform.
| **{% poplink flow-deck %}, Flow deck V1** | yes | yes |
| **{% poplink multi-ranger-deck%}** | yes | yes |
| **Mocap marker deck** | yes | yes |
| **Lighthouse-4** | yes | *2 |
| **{% poplink lighthouse-deck %}** | yes | *2 |
| **Active marker** | yes | yes |
| **AI deck** | yes | yes |
|---------------------------|----------------|-----------|
Expand All @@ -186,7 +186,7 @@ are normally physically blocking each other are marked as not
compatible.


| | LED-ring | Qi charger | Micro-SD | Loco Positioning |Big quad | Buzzer | bcESP | Z-Ranger | Flow | Multi-ranger | Mocap marker deck | Lighthouse-4 | Active marker | AI deck |
| | LED-ring | Qi charger | Micro-SD | Loco Positioning |Big quad | Buzzer | bcESP | Z-Ranger | Flow | Multi-ranger | Mocap marker deck | Lighthouse deck | Active marker | AI deck |
|---------------------------|----------|------------|----------|------------------|----------|--------|-------|----------|---------|--------------|-------------------|--------------|---------------|---------|
| **{% poplink led-ring-deck %}** | - | | yes | yes | | yes | yes | | | yes | yes | yes | yes | yes |
| **Qi charger** | | - | yes | yes | yes | yes | yes | | | yes | yes | yes | yes | yes |
Expand All @@ -199,7 +199,7 @@ compatible.
| **{% poplink flow-deck %}, Flow deck V1** | | | yes *1 | yes | | yes | yes | | - | yes | yes | yes | yes | yes |
| **{% poplink multi-ranger-deck%}** | yes | yes | yes | yes | yes | yes | yes | yes | yes | - | yes | yes | yes | yes |
| **Mocap marker deck** | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | - | yes | | yes |
| **Lighthouse-4** | yes | yes | yes | *2 | *2 | yes | yes | yes | yes | yes | yes | - | | *3 |
| **{% poplink lighthouse-deck %}** | yes | yes | yes | *2 | *2 | yes | yes | yes | yes | yes | yes | - | | *3 |
| **Active marker** | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | | | - | yes |
| **AI deck** | yes | yes | yes | *2 | yes | yes | yes | yes | yes | yes | yes | *3 | yes | - |
|---------------------------|----------|------------|----------|------------------|----------|--------|-------|----------|---------|--------------|-------------------|--------------|---------------|---------|
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2 changes: 1 addition & 1 deletion src/documentation/system/positioning/index.md
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Expand Up @@ -18,7 +18,7 @@ information of the current position.

{% row_image_text_links Lighthouse positioning System; /images/documentation/overview/lighthouse.png %}
{% row_text %}
The lighthouse positioning system is our latest method of positioning on the Crazyflie 2.X. The [Lighthouse base stations](https://store.bitcraze.io/products/lighthouse-v2-base-station) are used here, and they emit infrared laser scans that are detected by our [Lighthouse positioning deck](https://store.bitcraze.io/collections/positioning/products/lighthouse-positioning-deck). This enables the crazyflie to (like with the Loco Positioning System) calculate its own position on board.
The lighthouse positioning system is our latest method of positioning on the Crazyflie 2.X. The [Lighthouse base stations](https://store.bitcraze.io/products/lighthouse-v2-base-station) are used here, and they emit infrared laser scans that are detected by our {% poplink lighthouse-deck %}. This enables the crazyflie to (like with the Loco Positioning System) calculate its own position on board.
{% endrow_text %}

{% row_links %}
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4 changes: 2 additions & 2 deletions src/documentation/system/positioning/ligthouse-positioning-system.md
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Expand Up @@ -64,7 +64,7 @@ It can also be saved to a file which allows to write the same geometry informati
Being an optical system, the lighthouse positioning system requires direct optical line of sight from the Crazyflie to at least one of the base stations.
The Range and the field of view will dictate the space tracked.

Due to the geometry of the lighthouse deck, the tracking will work best up to ~50cm bellow the base station height.
Due to the geometry of the {% poplink lighthouse-deck %}, the tracking will work best up to ~50cm bellow the base station height.

In a 5x5 meter space, we have measured a relative precision better than a millimeter and an absolute accuracy better than a decimeter.
This means that coming back to a take-off/landing pad can be done with a millimeter precision, but going away at the extreme corner of the space can be off by a couple of centimeters.
Expand All @@ -76,7 +76,7 @@ It is not intended to be used outdoor and since it is using infrared light, perf

{% row_image_text_links System components %}
{% row_text %}
To use the Lighthouse positioning system, the {% id_link product-lighthouse-deck %}
To use the Lighthouse positioning system, the {% poplink lighthouse-deck %}
should be installed on all {% id_link product-crazyflie-2-1 %} that needs to be tracked.

One to two Lighthouse Base Stations must be installed in the room.
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10 changes: 5 additions & 5 deletions src/documentation/tutorials/getting-started-with-lighthouse.md
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Expand Up @@ -17,7 +17,7 @@ This tutorial is also available as a [video](https://www.youtube.com/watch?v=DCE
{% si_step Prerequisites - hardware %}
Make sure that you have the following available:
* [A Crazyflie 2.X](https://store.bitcraze.io/products/crazyflie-2-1)
* [A Lighthouse deck](https://store.bitcraze.io/products/lighthouse-positioning-deck)
* A {% poplink lighthouse-deck %}
* Two Lighthouse Bsestations. We advise to [buy version 2.0](https://store.bitcraze.io/products/lighthouse-v2-base-station) but version 1.0 is also compatible.
* [A Crazyradio PA](https://store.bitcraze.io/products/crazyradio-pa)
{% endsi_step %}
Expand All @@ -33,7 +33,7 @@ The first thing to do is to make sure the firmware in the Crazyflie and Lighthou
{% endsi_intro %}

{% si_step Mount the Lighthouse deck %}
For mounting the Lighthouse deck on a Crazyflie check out the {% id_link getting-started-expansion-decks %} tutorial.
For mounting the {% poplink lighthouse-deck %} on a Crazyflie check out the {% id_link getting-started-expansion-decks %} tutorial.
{% endsi_step %}

{% si_step Update firmware in the Crazyflie and Lighthouse deck %}
Expand Down Expand Up @@ -104,10 +104,10 @@ On V1 base stations you change the mode with the small button on the back of the
{% endsi_step %}

{% si_step Set up the base stations in the flight area%}
After the base station's channels are correctly set, you can mount them in your flight area by a wall mount or a camera-stand. The maximum flight area for two base stations is about 4 x 4 x 2.0, but long as the Crazyflie is not further away than 6 meters from at least one base station, it should work out. Note that the lighthouse sensors are mounted on the top of the lighthouse deck and that the base stations must be above the Crazyflie to be received.
After the base station's channels are correctly set, you can mount them in your flight area by a wall mount or a camera-stand. The maximum flight area for two base stations is about 4 x 4 x 2.0, but long as the Crazyflie is not further away than 6 meters from at least one base station, it should work out. Note that the lighthouse sensors are mounted on the top of the {% poplink lighthouse-deck %} and that the base stations must be above the Crazyflie to be received.

Make sure that you have the following conditions in your flight area:
* The base stations should be about at least 0.5 meters higher than the flight area of the Crazyflie due to the placement of the sensors on the Lighthouse deck.
* The base stations should be about at least 0.5 meters higher than the flight area of the Crazyflie due to the placement of the sensors on the {% poplink lighthouse-deck %}.
* Make sure that there are no mirrors or big large reflective items in the area.
* Make sure that you do not have direct sunlight.

Expand All @@ -125,7 +125,7 @@ This will explain how to get calibration and geometry data and setup up your Cra


{% si_step Indicate the origin of your coordinate system%}
Place the Crazyflie with the Lighthouse deck on the ground of where you want the origin to be of your global coordinate system. Check out {% id_link cf2_coordinate_system %}.
Place the Crazyflie with the {% poplink lighthouse-deck %} on the ground of where you want the origin to be of your global coordinate system. Check out {% id_link cf2_coordinate_system %}.
{% endsi_step %}

{% si_step Connect to the Crazyflie with the Client%}
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2 changes: 1 addition & 1 deletion src/documentation/wiki/led-deck-on-top.md
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Expand Up @@ -4,7 +4,7 @@ title: LED deck on top
page_id: led-deck-on-top
---

With the LED deck and a Crazyflie 2.x, we are able to make real pieces of art.. However, these fun projects do require an external positioning system, since we used the lighthouse positioning deck (but you can also use the LPS or MoCap system)
With the LED deck and a Crazyflie 2.x, we are able to make real pieces of art.. However, these fun projects do require an external positioning system, since we used the {% poplink lighthouse-deck %} (but you can also use the LPS or MoCap system)

How about using the LED-deck in the combination with the Flow deck v2? A while ago we managed to do this by drilling a couple of holes in the LED deck in this hackster project. However, if you are fine with putting the LED deck on the top, there might be an easier way to achieve this combination.

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2 changes: 1 addition & 1 deletion src/documentation/wiki/lighthouse-other-hardware.md
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Expand Up @@ -6,7 +6,7 @@ page_id: lh-deck-other-hardware

## Using the deck with other hardware

The deck has 4 solder pad on the bottom that are designed to allow using the lighthouse deck with other hardware. The 4 pads are labeled and corresponds to the connector P3 in the deck schematic.
The deck has 4 solder pad on the bottom that are designed to allow using the {% poplink lighthouse-deck %} with other hardware. The 4 pads are labeled and corresponds to the connector P3 in the deck schematic.

The pads GND and VCOM can be used to supply power to the deck. There is a 3.0V LDO regulator on the board which means that VCOM can be in the range of ~3.3V to 5.5V.

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2 changes: 1 addition & 1 deletion src/products/lighthouse-positioning-deck.md
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Expand Up @@ -18,7 +18,7 @@ High precision positioning;
Enabling high precision autonomous flying and swarming
%}

With Crazyflie and the Lighthouse positioning deck, high precision autonomous flight becomes
With Crazyflie and the {% poplink lighthouse-deck %}, high precision autonomous flight becomes
available for everyone. On-board position calculation and low complexity makes
it the ideal choice for everything from big laboratories to small classrooms.

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