Search found 24 matches

by nicuvlad94
Wed Jun 10, 2020 3:48 pm
Forum: Bitcraze
Topic: Question related to the state setpoint
Replies: 7
Views: 486

Re: Question related to the state setpoint

Hello! It seems that, by adjusting the yaw rate as you suggested works really well! Yes, I know about the python library, I use it to log data for postprocessing (I have a two-thread script, which simultaneously logs data from the CF and Vicon), but the final demonstrator is supposed to work indepen...
by nicuvlad94
Mon Jun 08, 2020 2:58 pm
Forum: Bitcraze
Topic: Question related to the state setpoint
Replies: 7
Views: 486

Re: Question related to the state setpoint

I don't think that the issue is related to having too many measurements to incorporate. Firstly, because the mocap and flow deck are never used at the same time. I either use the Vicon, which sends positions at every 20ms, or the FlowDeck. The UWB does not work with the EKF. I have my own sensor nod...
by nicuvlad94
Sat Jun 06, 2020 8:23 am
Forum: Bitcraze
Topic: Question related to the state setpoint
Replies: 7
Views: 486

Re: Question related to the state setpoint

Thank you for your answer! I use the PID, but I have the Vicon markers on the drone, the flow deck, and my custom UWB shield (which weights 6g :o ) and this is probably why sometimes it tends to go unstable. But I will have a look at the go_to function and I will tell you how that worked. Regarding ...
by nicuvlad94
Fri Jun 05, 2020 11:58 am
Forum: Bitcraze
Topic: Where does the EKF incorporates the uwb measurements?
Replies: 2
Views: 147

Re: Where does the EKF incorporates the uwb measurements?

Thank you! I managed to use it!
by nicuvlad94
Fri Jun 05, 2020 11:57 am
Forum: Bitcraze
Topic: Question related to the state setpoint
Replies: 7
Views: 486

Question related to the state setpoint

Hello! I would like to ask if it is possible that, given a position setpoint, to be also able to adjust the flying velocity to that setpoint. I use the following configuration to command a setpoint, but the drone flies there too aggressively and sometimes it crashes. static void positionSet(setpoint...
by nicuvlad94
Mon Jun 01, 2020 6:08 pm
Forum: Bitcraze
Topic: Where does the EKF incorporates the uwb measurements?
Replies: 2
Views: 147

Where does the EKF incorporates the uwb measurements?

Hello,

Can someone point me to the file where the ekf updates the state estimate with the measurements obtained from the UWB anchors (TWR)?

Thank you!
Vlad
by nicuvlad94
Thu May 14, 2020 2:43 pm
Forum: Bitcraze
Topic: Control Crazyflie with Vicon
Replies: 5
Views: 584

Re: Control Crazyflie with Vicon

But my issue with the yaw is that it is drifting during the flight, I assume that because of integration drift (?). Would it be possible to enable the magnetometer, to have some yaw correction when the mocap is not used?
by nicuvlad94
Wed May 13, 2020 10:55 am
Forum: Bitcraze
Topic: Control Crazyflie with Vicon
Replies: 5
Views: 584

Re: Control Crazyflie with Vicon

Thank you for your answer! These are things that I already tried before I posted here. I tried different values for the std dev. Also, I statically tried to move the quad while observing the value of the yaw provided by Vicon and the value logged from the CF. So this proves that I send the correct i...
by nicuvlad94
Fri May 08, 2020 10:03 am
Forum: Bitcraze
Topic: Control Crazyflie with Vicon
Replies: 5
Views: 584

Control Crazyflie with Vicon

Hello, This week I was working on a project based on crazyflie-lib-python and pyvicon (Vicon python wrapper on the Vicon DataStream SDK) which enables the crazyflie to get state infromation from the Vicon system. The idea is to have a nice framework which allows to feed in the vicon data (or from an...
by nicuvlad94
Thu Feb 06, 2020 12:21 pm
Forum: Bitcraze
Topic: Flying Crazyflie to a specific position setpoint
Replies: 24
Views: 5970

Re: Flying Crazyflie to a specific position setpoint

I will definitely do, but these days I am busy with acquiring some data (Crazyflie + Vicon). For that, I would need to log some data from the Crazyflie and I want to ask what is the difference between the acceleration in "stateEstimate" and the acceleration in the "sensorData". What is the benefit o...