Search found 15 matches

by joyner
Wed Jun 17, 2020 9:26 am
Forum: Developer Discussions
Topic: LPS: inaccurate estimation of yaw-angle/yaw-drift
Replies: 2
Views: 309

Re: LPS: inaccurate estimation of yaw-angle/yaw-drift

Thanks for your help! I set the symbol "ROLLPITCH_ZERO_REVERSION" to 0. Everything is working perfectly now. Maybe the inaccurate Estimation was due to the fact, that I commented out the function call "controller(&control, &setpoint, &sensorData, &state, tick);" in stabilizer.c (https://github.com/b...
by joyner
Mon Jun 15, 2020 9:39 am
Forum: Developer Discussions
Topic: LPS: inaccurate estimation of yaw-angle/yaw-drift
Replies: 2
Views: 309

LPS: inaccurate estimation of yaw-angle/yaw-drift

Hey, I've implemented a position controller (with subordinated velocity, attitude and angular velocity controller) within the App-Layer. Everything is working fine, but I have got problems due to inaccurate yaw-estimation (log: stateEstimate.yaw). I'm using the LPS, and the crazyflie is positioned i...
by joyner
Sat May 23, 2020 11:23 am
Forum: Loco Positioning System
Topic: Configuration of LPS
Replies: 3
Views: 541

Re: Configuration of LPS

Oh, easy solution, thank you! Thought there is a problem because in the getting started guide the pictures are different from what I got to see.
by joyner
Wed May 20, 2020 2:43 pm
Forum: Loco Positioning System
Topic: Configuration of LPS
Replies: 3
Views: 541

Re: Configuration of LPS

All leds (TX, RX, SFD, RXOK) are flashing, if that can help. In cf-client, all anchors are green (twr) and the console displays "ESTKALMAN: State out of bounds, resetting" every 30 secs approx.
by joyner
Wed May 20, 2020 2:00 pm
Forum: Loco Positioning System
Topic: Configuration of LPS
Replies: 3
Views: 541

Configuration of LPS

Hello I've been trying to use the lps system but it's not working at all. I installed the firmware with "git clone --recursive https://github.com/bitcraze/lps-node-firmware.git", "make" and "dfu" and set the IDs and mode "Anchor (TWR)" with the lps tool (in windows). But when I'm starting everything...
by joyner
Mon Mar 02, 2020 9:13 pm
Forum: Developer Discussions
Topic: Update frequencies of sensor signals/states
Replies: 7
Views: 4663

Re: Update frequencies of sensor signals/states

Ok, but I think the update frequencies of stateEstimateZ az, vz and z differ among each another. So it's probably not the same frequency as the estimator_kalman is running at, I guess? I want to simulate signal-noise, so I need the exact update rates of stateEstimateZ az, vz and z when using flow-de...
by joyner
Sun Mar 01, 2020 6:29 pm
Forum: Developer Discussions
Topic: Update frequencies of sensor signals/states
Replies: 7
Views: 4663

Re: Update frequencies of sensor signals/states

Thank you for your help! But another question occured to me recently... I am using the flow-deck and I noticed that frequencies of acceleration, speed and position (stateEstimateZ az, vz, z) are different than without flow-deck. Where can I find these frequencies? That would help me a lot. I already...
by joyner
Wed Feb 19, 2020 4:33 pm
Forum: Developer Discussions
Topic: Update frequencies of sensor signals/states
Replies: 7
Views: 4663

Re: Update frequencies of sensor signals/states

Thanks! Do you know where I can find the definition (1 kHz) in the code?
by joyner
Sun Feb 16, 2020 9:42 am
Forum: Developer Discussions
Topic: Update frequencies of sensor signals/states
Replies: 7
Views: 4663

Update frequencies of sensor signals/states

Hello, as I can see in https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/estimator_complementary.c#L44, the attitude update rate is 250 Hz (angle Pitch/Roll/Yaw) and position update rate is 100 Hz (X,Y,Z). But what are the update frequencies of the sensor signals, e.g. angul...
by joyner
Wed Jan 15, 2020 2:41 pm
Forum: Developer Discussions
Topic: Timer configuration (Interrupt service routine)
Replies: 2
Views: 2353

Re: Timer configuration (Interrupt service routine)

Thanks Arnaud, maybe I will try to configure TIM6 then. And if it's not working, your Idea with using sleep seems sufficient as well. Thank you! Didn't know that the Microcontroller is that fast ...