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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



Return last measured data in array [x, y, z, timestamp]


Main loop


Request to stop main loop and close serial port


Print last measured data in default format

Required libraries:

To prevent errors when installing crcmod module used in this script, use the following sequence of commands:

sudo apt-get install python-pip
sudo apt-get update
sudo apt-get install python-dev
sudo pip install crcmod