Search found 15 matches
- Wed Jun 17, 2020 9:26 am
- Forum: Developer Discussions
- Topic: LPS: inaccurate estimation of yaw-angle/yaw-drift
- Replies: 2
- Views: 1315
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);" i...
- Mon Jun 15, 2020 9:39 am
- Forum: Developer Discussions
- Topic: LPS: inaccurate estimation of yaw-angle/yaw-drift
- Replies: 2
- Views: 1315
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...
- Sat May 23, 2020 11:23 am
- Forum: Loco Positioning System
- Topic: Configuration of LPS
- Replies: 3
- Views: 1827
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.
- Wed May 20, 2020 2:43 pm
- Forum: Loco Positioning System
- Topic: Configuration of LPS
- Replies: 3
- Views: 1827
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.
- Wed May 20, 2020 2:00 pm
- Forum: Loco Positioning System
- Topic: Configuration of LPS
- Replies: 3
- Views: 1827
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 wi...
- Mon Mar 02, 2020 9:13 pm
- Forum: Developer Discussions
- Topic: Update frequencies of sensor signals/states
- Replies: 7
- Views: 6285
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...
- Sun Mar 01, 2020 6:29 pm
- Forum: Developer Discussions
- Topic: Update frequencies of sensor signals/states
- Replies: 7
- Views: 6285
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...
- Wed Feb 19, 2020 4:33 pm
- Forum: Developer Discussions
- Topic: Update frequencies of sensor signals/states
- Replies: 7
- Views: 6285
Re: Update frequencies of sensor signals/states
Thanks! Do you know where I can find the definition (1 kHz) in the code?
- Sun Feb 16, 2020 9:42 am
- Forum: Developer Discussions
- Topic: Update frequencies of sensor signals/states
- Replies: 7
- Views: 6285
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...
- Wed Jan 15, 2020 2:41 pm
- Forum: Developer Discussions
- Topic: Timer configuration (Interrupt service routine)
- Replies: 2
- Views: 3374
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 ...