Search found 7 matches

by OmarMorando
Tue Mar 19, 2019 1:26 pm
Forum: Quadcopters
Topic: [solved] Custom flight stack with Crazyflie Kalman Estimator
Replies: 9
Views: 525

Re: [solved] Custom flight stack with Crazyflie Kalman Estimator

This is the log graph with a sampling of 0.5 sec (790 points for a total of 395 sec), with the following values calculated at the beginning and then constant: - gyroBias.x = 4.006 - gyroBias.y = -28.867 - gyroBias.z = -9.547 - accScale = 1.052 https://drive.google.com/open?id=1wqMa2NR6sPatFJVH1qQf1-...
by OmarMorando
Mon Mar 18, 2019 2:13 pm
Forum: Quadcopters
Topic: [solved] Custom flight stack with Crazyflie Kalman Estimator
Replies: 9
Views: 525

Re: [solved] Custom flight stack with Crazyflie Kalman Estimator

It slowly reaches zero, but then continues with a slow drift and overcome zero angles. If I larve stable the flight controller for several minutes, the angles reach 20-30° or even more.
by OmarMorando
Thu Mar 14, 2019 1:22 pm
Forum: Quadcopters
Topic: [solved] Custom flight stack with Crazyflie Kalman Estimator
Replies: 9
Views: 525

Re: [solved] Custom flight stack with Crazyflie Kalman Estimator

I have another question. Using the EKF and keeping the drone still on the desk I have a very slow but constant drift on roll and pitch (about 0.1 °/min), after several minutes the error exceeds 10-15 °. This doesn't happen if I leave everything unchanged and use Mahony. I tried to play a bit with th...
by OmarMorando
Wed Mar 13, 2019 2:17 pm
Forum: Quadcopters
Topic: [solved] Custom flight stack with Crazyflie Kalman Estimator
Replies: 9
Views: 525

Re: [solved] Custom flight stack with Crazyflie Kalman Estimator

On the contrary, it is me who have learned a lot from your code. For a project I'm working on of swarm of drones for indoor flight, I decided to make a new flight controller based on the Freescale MK66FX1M0 processor and Teensy bootloader, basically a custom version of Teensy 3.6 with 36x36 mm dimen...
by OmarMorando
Tue Mar 12, 2019 1:07 pm
Forum: Quadcopters
Topic: [solved] Custom flight stack with Crazyflie Kalman Estimator
Replies: 9
Views: 525

Re: Custom flight stack with Crazyflie Kalman Estimator

Fixed: the problem was related to ROLLPITCH_ZERO_REVERSION param, not correct for my drone.
by OmarMorando
Mon Mar 11, 2019 1:12 pm
Forum: Quadcopters
Topic: [solved] Custom flight stack with Crazyflie Kalman Estimator
Replies: 9
Views: 525

Re: Custom flight stack with Crazyflie Kalman Estimator

Hi Tobias, I don't know if I have interpreted well what you said, in any case if I move CF2 and put it in an inclined static position, the indicator follows the movements and then stays with the pitch and roll values fixed according to the position of the drone. If I do the same thing with mine, the...
by OmarMorando
Fri Mar 08, 2019 4:36 pm
Forum: Quadcopters
Topic: [solved] Custom flight stack with Crazyflie Kalman Estimator
Replies: 9
Views: 525

[solved] Custom flight stack with Crazyflie Kalman Estimator

Hi everyone. I implemented some parts of your firmware in my custom flight stack based on ChibiOS/RT and a Teensy board with MPU9250, in particular the Kalman estimator that Mark made for Crazyflie. I have a strange behavior. The attitude is calculated correctly during the movement, the indicator fo...