Multi bs non experimental

[knmcguire]

This PR does two things

• Updating the default amount of basestations to 4
• Triming the dev documentation and just give instructions to have more than 4 basestations

[knmcguire]

Firmware compiled with 4:

Version extracted from git
Flash |  253156/1032192 (25%),  779036 free | text: 245808, data: 7348, ccmdata: 0
RAM   |   83336/131072  (64%),   47736 free | bss: 75988, data: 7348
CCM   |   59408/65536   (91%),    6128 free | ccmbss: 59408, ccmdata: 0

compared to when compiling for 2:

Flash |  253156/1032192 (25%),  779036 free | text: 245808, data: 7348, ccmdata: 0
RAM   |   82400/131072  (63%),   48672 free | bss: 75052, data: 7348
CCM   |   59408/65536   (91%),    6128 free | ccmbss: 59408, ccmdata: 0

[krichardsson]

My only worry is what happens in a LH1 system that only supports 2 base stations.

• Does the code work for LH1 when set to 4 base stations?
• I suppose the client will show 4 base stations also for LH1, is that OK?

[knmcguire]

This is what it looks like in the cfclient:

[knmcguire]

If we would need to change it further in the firmware, it will be either changing all DECK_LIGHTHOUSE_MAX_N_BS to a variable or we do something with the baseStationAvailabledMap parameter?

crazyflie-firmware/src/modules/src/lighthouse/lighthouse_core.c

Line 846 in 59044ce

PARAM_ADD_CORE(PARAM_UINT16 | PARAM_RONLY, bsAvailable, &baseStationAvailabledMap)

The problem is that it is only being set and used in the lighthouseCoreInit()

void lighthouseCoreInit() {
  lighthouseStorageInitializeSystemTypeFromStorage();
  lighthousePositionEstInit();

  for (int i = 0; i < CONFIG_DECK_LIGHTHOUSE_MAX_N_BS; i++) {
    modifyBit(&baseStationAvailabledMap, i, true);
  }
}

Maybe we can continously modify the bit everytime the lighthouse type switched:

crazyflie-firmware/src/modules/src/lighthouse/lighthouse_core.c

Lines 180 to 188 in 59044ce

	static void lighthouseUpdateSystemType() {
	// Switch to new pulse processor
	switch(systemType) {
	case lighthouseBsTypeV1:
	pulseProcessorProcessPulse = pulseProcessorV1ProcessPulse;
	break;
	case lighthouseBsTypeV2:
	pulseProcessorProcessPulse = pulseProcessorV2ProcessPulse;
	break;

[knmcguire]

Tried this in the client and it does not work... bitcraze/crazyflie-clients-python#623

Read only params and get_param is not meant for this functionality so I will need to turn it into a logging variable as well (since the param one is a core variable). Let's see how it goes.