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Hi! I could not open your scripts so I might be off. You are correct in that cf.extpos.send_extpos() pushes the position to the estimator, while cf.extpos.send_extpose() pushes the full pose. If you are using the kalman estimator (sounds like you should) it will use any data that is pushed into it, ...

I'm not completely sure about the details, but in the graph for measured yaw VS command (https://github.com/AliGriv/Crazyflie_te ... ommand.png), it looks like the command increase the error. Should it not be reversed?

Hi!

It is very hard to say what happened in this case but this type of failure is often caused by outliers. If you also use the mellinger controller it is also very sensitive to errors in the estimated position.

Is the problem repeatable or was it a one off?

I think taking off from the ground and hovering would be interesting.

BTW is this behaviour something you only see with the latest firmware (that is, did work before)?

Hi Joe! The CPU load seems OK to me, that will probably not be a problem. The CF firmware will handle 3 base stations in a (fairly) good way, you should not have to change anything in the FW as far as I can see. Some of the client code on the other hand only handles 2 base stations, especially the g...

If you use the send_extpose() method in the Extpos class (https://github.com/bitcraze/crazyflie-lib-python/blob/master/cflib/crazyflie/extpos.py#L54), the execution ends up in https://github.com/bitcraze/crazyflie-lib-python/blob/master/cflib/crazyflie/localization.py#L145-L159 where the pose is enc...

Yes it is caused by the floating point precession The base station uses 6 decimals, so a dump (via USB) on one bs return this lhtx> param list fcal fcal.0.tilt -0.043805 fcal.0.phase 0.000000 fcal.0.curve 0.209360 fcal.0.gibphase 2.255891 fcal.0.gibmag 0.002426 fcal.0.ogeephase 1.676551 fcal.0.ogeem...

Could you post a video when flying with the flow deck?

You can write a python script that connects to your mocap system and pushed the position (or full pose) to the Crazyflies. I'm not sure which mocap system you use, but we hava an example for a Qualisys system in https://github.com/bitcraze/crazyflie-lib-python/blob/master/examples/qualisys/qualisys_...

Hi! There is nothing in the Flow deck to update so the expected behaviour is that the CF should just look for update-able decks and after a second or two continue. Did your client stop at this point while flashing? If you have a drift with the flow deck it is usually because the floor under the craz...