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Loco Positioning System

The loco command displays anchor information from the Loco Positioning System (LPS) v2 memory on the Crazyflie. This requires an LPS deck to be attached.

Display anchor data

To display the configured anchors, their positions, and active status:

cfcli loco display

This will show output similar to:

Loco Positioning System - Anchor Data:
   ID  Active  Valid  Position (x, y, z)
    0     yes    yes  (1.000, 2.000, 0.500)
    1     yes    yes  (4.000, 2.000, 0.500)
    2     yes    yes  (1.000, 5.000, 0.500)
    3     yes    yes  (4.000, 5.000, 0.500)
    4      no    yes  (0.000, 0.000, 3.000)
    5      no    yes  (4.000, 0.000, 3.000)

The columns show:

  • ID - The anchor identifier
  • Active - Whether the anchor is currently being used for positioning
  • Valid - Whether the anchor has valid position data stored
  • Position - The 3D coordinates (x, y, z) of the anchor in meters