Search found 7 matches

by jamador
Mon Aug 26, 2019 8:55 am
Forum: Loco Positioning System
Topic: Pose topic using Crazyswarm
Replies: 6
Views: 628

Re: Pose topic using Crazyswarm

Hi, I finally got it (with the latest crazyflie-firmware). I do the same you do in crazyflie_ros, creating the new topic and publishing using the custom logBlock: struct logPose { float x; float y; float z; float roll; float pitch; float yaw; } __attribute__((packed)); . . . std::function<void(uint3...
by jamador
Wed Aug 21, 2019 1:42 pm
Forum: External positioning systems
Topic: Lighthouse positioning questions
Replies: 6
Views: 730

Re: Lighthouse positioning questions

I attach a picture of the fluctuations in the roll/pitch angles using kalmanUSC being feed with the new LH rotation data, having the drone resting. I do not know what is the reason behind of this oscilations. Any case, I wanted to use the default Kalman estimator, since is the estimator I was using ...
by jamador
Tue Aug 20, 2019 9:55 am
Forum: External positioning systems
Topic: Lighthouse positioning questions
Replies: 6
Views: 730

Re: Lighthouse positioning questions

Today I was able to feed the estimator. The problem was that pose enqueue only works with KalmanUSC. I had to change the current Estimator. As you said in your first post, your current EKF does not implement the full pose feed. I had never used KalmanUSC and in some test its behavior is strange, wit...
by jamador
Mon Aug 19, 2019 12:41 pm
Forum: External positioning systems
Topic: Lighthouse positioning questions
Replies: 6
Views: 730

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 impr...
by jamador
Wed Aug 14, 2019 10:17 am
Forum: External positioning systems
Topic: Lighthouse positioning questions
Replies: 6
Views: 730

Re: Lighthouse positioning questions

Hi, thanks for your answer. Finally I bought the LH system and it works great. Congratulations for your work! Now I want to implement the orientation estimation using LH. I have alredy tested the transformation optimization out of the crazyflie, now I want to code the crazyflie-firmware with it and ...
by jamador
Thu Jun 06, 2019 11:25 am
Forum: External positioning systems
Topic: Lighthouse positioning questions
Replies: 6
Views: 730

Lighthouse positioning questions

Hi, I have some questions about the lighthouse positioning system: 1) I only want to use the system to get a more accurate pose avoiding the use of expensive systems (OptiTrack, etc). In my case, I understand (reading https://wiki.bitcraze.io/doc:lighthouse:index) that I only need two Base Station 1...
by jamador
Mon Apr 29, 2019 2:54 pm
Forum: Loco Positioning System
Topic: Pose topic using Crazyswarm
Replies: 6
Views: 628

Re: Pose topic using Crazyswarm

Hi Whoenig, I am a researcher of GRVC, working with aramos. We got to publish pose topic in the crazyswarm API using your last post as guide. Thank you so much for your help. We have some doubts about it. First, in your proposed code you log x,y,z and the compressed quaternion: {"stateEstimate", "x"...