Search found 2028 matches

by arnaud
Tue Aug 20, 2019 7:45 am
Forum: Bitcraze
Topic: How to Improve Yaw Estimator?
Replies: 2
Views: 26

Re: How to Improve Yaw Estimator?

Hi, What Crazyflie are you using (2.0 or 2.1) and are these measurement taken while flying or not? The MEMS gyro of the Crazyflie will drift over time. The drift you observe is bigger than what I would have expected though (the gyro used in 2.1 is specified for a couple of degree drift per minute ma...
by arnaud
Tue Aug 20, 2019 7:42 am
Forum: Developer Discussions
Topic: Syslink packet for commander
Replies: 3
Views: 34

Re: Syslink packet for commander

The content of the packet needs to be a CRTP packet, and this particular packet cannot be sent to a Crazyflie since it has a port/channel of 0/0 which is the Console port, console packets are only send by the Crazyflie not to the Crazyflie. The CRTP documentation is in the wiki but the easiest to ve...
by arnaud
Tue Aug 20, 2019 7:25 am
Forum: Developer Discussions
Topic: Programming Approach of client
Replies: 1
Views: 29

Re: HEIGHT MEASUREMENT developing

Hi, The height measurement is done in the z-ranger deck driver and pushed into the estimator: https://github.com/bitcraze/crazyflie-firmware/blob/57b0ea1/src/deck/drivers/src/zranger2.c#L146 When using the flow, the kalman filter estimator is used. The height measurement is entered in the kalman fil...
by arnaud
Tue Aug 20, 2019 7:15 am
Forum: Developer Discussions
Topic: force multiple decks?
Replies: 1
Views: 18

Re: force multiple decks?

Hi,

Yes, you can just separate them with colon ":". For example:

Code: Select all

CFLAGS += -DDECK_FORCE=bcUSD:someAutomation
by arnaud
Thu Aug 15, 2019 9:19 am
Forum: Loco Positioning System
Topic: Startup Problems (flashing anchor firmware and anchors not recognized)
Replies: 3
Views: 83

Re: Startup Problems (flashing anchor firmware and anchors not recognized)

This could be caused by the tool not having access to the USB bootloader. The easiest way to test that is to run the tool as root with "sudo" an see if you can upgrade the nodes that way.
by arnaud
Thu Aug 15, 2019 9:15 am
Forum: External positioning systems
Topic: Lighthouse positioning questions
Replies: 5
Views: 398

Re: Lighthouse positioning questions

Hi, This is correct, the code you copied is the part of the code that average sensors position to feed the EKF. You could implement a more clever algorithm there to calculate the pose and push it to the EKF with estimatorEnqueuePose which has been newly added by Wolfgang. This would be a great impro...
by arnaud
Mon Aug 12, 2019 8:19 am
Forum: Developer Discussions
Topic: NRF Firmware esb.c Packet Counters
Replies: 3
Views: 171

Re: NRF Firmware esb.c Packet Counters

Hi, Those are 1 bit counter so increment them is equivalent to inverting the value. I guess it would have been much more clear to write it more like this: curr_up = (1+curr_up) & 0x01; The counters are incremented each time a packet is accepted. The code checks if the counter matches and if it does ...
by arnaud
Tue Jul 09, 2019 4:35 pm
Forum: External positioning systems
Topic: Some details of the lighthouse deployment
Replies: 7
Views: 282

Re: Some details of the lighthouse deployment

The origin is in the openVR space so Y is vertical. So in your case the height of the BS are within ~1cm which seems good.
by arnaud
Tue Jul 09, 2019 10:42 am
Forum: External positioning systems
Topic: Some details of the lighthouse deployment
Replies: 7
Views: 282

Re: Some details of the lighthouse deployment

No you shoud not (and you cannot) run room setup without an HMD. Without an HMD the most important is to follow carefully the Triad blog post that is linked in the wiki to setup SteamVR to work without HMD. It is not a problem that the VR compositor crashes, it is actually a good thing: Valve recent...
by arnaud
Tue Jul 09, 2019 6:15 am
Forum: External positioning systems
Topic: Some details of the lighthouse deployment
Replies: 7
Views: 282

Re: Some details of the lighthouse deployment

Well, nothing more than two base stations and one tracker.

The link box is used to connect the head-mounted-display (HMD) to your computer so if you setup the system without HMD the linkbox is not needed.