Bitcraze Forums

Hi! It sounds like the firmware (FPGA binary) in the lighthouse deck has not been updated to the latest version. This binary is updated as a part of the normal flashing process and for this to work the deck must be mounted on the Crazyflie while flashing. After the STM and NRF firmware has been flas...

It looks like the FAT file system can not be mounted by the Crazyflie.
Have you checked that your micro SD-card is formated with a FAT file system and that it can it be written (not write protected) and read with some other device?

Great! I have also seen this instability when pushing the full pose from a mocap system into the Crazyflie. It seemed to be sensitive at yaw = +-90 degrees if the std was too low. In the qualisys example script I used a different std (at line 254) if you want to play around with it. I think I picked...

My guess is that it is that particular area that is problematic. It could be that the coverage from the base stations is poor (I can not see where they are located) or that there is a reflection in some object. You could try to write a script that flies through that area to see what happens? You cou...

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...