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src includes small python class based on threading.Thread for receiving and parsing coordinates data from Marvelmind mobile beacon by USB/serial port. is an example of use. Written by Alexander Rudykh (



adr - address of mobile beacon (from Dashboard) for data filtering. If it is None, every read data will be appended to buffer.

Default value: None

tty - serial port device name (physical or USB/virtual). It should be provided as an argument:

  • /dev/ttyACM0 - typical for Linux

  • /dev/tty.usbmodem1451 - typical for Mac OS X

baud - baudrate. Should be match to baudrate of hedgehog-beacon

Default value: 9600

maxvaluescount - maximum count of measurements of coordinates stored in buffer

Default value: 3

valuesUltrasoundPosition - buffer of US measured data (address of device, x, y, z (meters), angle (1/10 degree), timestamp (seconds)): [adr, x, y, z, ang, timestamp]

valuesImuRawData - buffer of IMU raw measures (accelerometer, gyroscope, compass)

valuesImuData - buffer of IMU and US based measures (position, angular position (quaternion), velocities, accelerations): [x, y, z, qw, qx, qy, qz, vx, vy, vz, ax, ay, az, timestamp]

debug - debug flag which activate console output

Default value: False

pause - pause flag. If True, class would not read serial data

terminationRequired - If True, thread would exit from main loop stop


position(self) Return last measured data in array [x, y, z, timestamp]

distances(self) Return raw distances in array [hedge, beacon0, distance0, beacon1, distance1, beacon2, distance2, beacon3, distance3, timestamp]

raw_imu(self) Return raw IMU (accelerometer, gyro, magnetometer) data in array [AX,AY,AZ, GX,GY,GZ, MX,MY,MZ, timestamp]

imu_fusion(self) Return IMU fusion (position, quaternion, velocity, acceleration) data in array [X,Y,Z, QW,QX,QY,QZ, VX,VY,VZ, AX,AY,AZ, timestamp]

telemetry(self) Return telemetry (battery voltage, RSSI) data in array [vbat, RSSI]

quality(self) Return location quality data in array [address, quality]

waypoint(self) Return last received waypoint in array [type, index, total_number, param1, param2, param3]

run(self) Main loop

stop(self) Request to stop main loop and close serial port

print_position(self) Print last measured position in default format

print_distances(self) Print last measured raw distances in default format

print_raw_imu(self) Print last raw IMU data (accelerometer, gyro, magnetometer) in default format

print_imu_fusion(self) Print last IMU fusion data (position, orientation quaternion, velocity, acceleration) in default format

print_raw_imu(self) Print last raw IMU data (accelerometer, gyro, magnetometer) in default format

print_telemetry(self) Print telemetry data (battery voltage, RSSI) in default format

print_quality(self) Print positioning quality data (percents) in default format

print_waypoint(self) Print last received waypoint in default format


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