Search found 17 matches
- Thu Oct 18, 2018 10:14 pm
- Forum: Loco Positioning System
- Topic: TWR-TDMA problem
- Replies: 1
- Views: 1624
TWR-TDMA problem
Hi all, I want to test the TWR-TDMA protocol to estimate 3D positions of 2 Crazyflies simultaneously. I'm encountering the following problem: once I turn both Crazyflies on, I'll see the LPS deck LEDs flashing appropriately, but after a few seconds in one of the Crazyflies the LEDs will stop flashin...
- Thu Oct 11, 2018 4:38 pm
- Forum: Loco Positioning System
- Topic: [SOLVED] Unable to change anchor TX power
- Replies: 1
- Views: 1511
[SOLVED] Unable to change anchor TX power
Hi all, I'm trying to run the script set_tx_power.py to play around with the transmission power of the anchors to see if I can get better localization with different settings. The problem is that when I run the script it gets stuck at : "Connecting to radio://0/120/2M/E7E7E7EC05" (that's t...
- Tue Oct 09, 2018 7:43 pm
- Forum: Loco Positioning System
- Topic: LPS with Flow Deck and uneven terrain
- Replies: 9
- Views: 5743
Re: LPS with Flow Deck and uneven terrain
Hi Carlos, Would you mind to share with me how you manage to ignore Z data from UWB (I assume you did this, anyway I will be happy to learn what you did and how)? We are dealing with the same system now (UWB + Flow Deck) and I am searching for some ways to improve Z performance. Thanks in advance, ...
- Thu Oct 04, 2018 6:40 pm
- Forum: Loco Positioning System
- Topic: LPS with Flow Deck and uneven terrain
- Replies: 9
- Views: 5743
Re: LPS with Flow Deck and uneven terrain
For the point #2, I believe you can simply comment this line: https://github.com/bitcraze/crazyflie-firmware/blob/857c1e64ec91eaa5b0e2799447dffcb75343ea27/src/deck/drivers/src/zranger.c#L116 That will basically prevent you from queueing any Z-ranger measurements and feed them into the Kalman Filter....
- Thu Feb 08, 2018 1:33 am
- Forum: Loco Positioning System
- Topic: Variance of TDOA2 measurements
- Replies: 5
- Views: 2961
Re: Variance of TDOA2 measurements
Thanks for the very insightful response!
I'll keep you posted if we achieve higher performance using the TDoA algorithm, and will look forward no any updates on your side.
Keep up the astounding work at Bitcraze!
I'll keep you posted if we achieve higher performance using the TDoA algorithm, and will look forward no any updates on your side.
Keep up the astounding work at Bitcraze!
- Wed Jan 31, 2018 10:03 pm
- Forum: Loco Positioning System
- Topic: Variance of TDOA2 measurements
- Replies: 5
- Views: 2961
Re: Variance of TDOA2 measurements
Progress so far: I made some iterations on different node position configuration, and finally found one that eliminated the peaks on the raw measurements, as seen in the figure attached. http://i63.tinypic.com/11scahv.png However, this doesn't seem to improve the large variance I get in the position...
- Wed Jan 31, 2018 5:06 pm
- Forum: Loco Positioning System
- Topic: Variance of TDOA2 measurements
- Replies: 5
- Views: 2961
Re: Variance of TDOA2 measurements
Hi Kristoffer, thanks for your response I'm including a graph with raw data from the TDOA and the statistics, as you suggested. Our arena is roughly 8x8x3.4 (WxLxH). However, shouldn't UWB measurements, theoretically, improve with distance? (given that they are within the 200m range of the radio). A...
- Mon Jan 29, 2018 6:36 pm
- Forum: Loco Positioning System
- Topic: Variance of TDOA2 measurements
- Replies: 5
- Views: 2961
Variance of TDOA2 measurements
Hello everyone, I have setup 8 UWB nodes in our lab (following the cuboid recommendation) and I'm getting a large variance using the new TDOA2 algorithm. I'm using the latest anchor and crazyflie firmware (both STM32 and NRF51). I'm attaching a cfclient capture of a static Crazyflie in the middle of...
- Fri Aug 19, 2016 3:16 pm
- Forum: Developer Discussions
- Topic: Trajectory Tracking Open Source project
- Replies: 5
- Views: 4387
Re: Trajectory Tracking Open Source project
Hey Arnaud, The LQT controller is run offboard through MATLAB, but in general it shouldn't need more processing power than your classical PID. The thing about the LQT algorithm is that it computes time-varying feedforward and feedback gains based on the trajectory you want to follow, hence optimizin...
- Sun Aug 14, 2016 2:21 pm
- Forum: Developer Discussions
- Topic: Trajectory Tracking Open Source project
- Replies: 5
- Views: 4387
Re: Trajectory Tracking Open Source project
Well I'd say the UWB technology needs still some improvement, more on the side of bias compensation. As of now I've only used the UWB measurement to estimate the quad position in the X-Y plane while the altitude came from the VICON. I've been playing lately with the geometry of the base estimations ...