Bitcraze Forums

I believe this is what you are looking for. Here is the conversion between thrust values to acceleration m/s^2, https://github.com/bitcraze/crazyflie-firmware/blob/8c925aa7abd79ac05ef7d94b98bfacd4e37441fd/src/modules/src/estimator_kalman.c#L184 You can then divide by the mass in kilograms to get it ...

I am interested in using the CF firmware logic for calculating setpoints and the roll/pitch/yaw/thrust computed by the controller to be passed back to the CF as send_setpoint(roll, pitch, yaw, thrust). Basically, the same roll/pitch/yaw/thrust computed by the firmware is sent back to the drone from ...

Thanks for the explanation. I am able to log the desired roll/pitch/yaw/thrust values now.

I am closing the topic.

I am interested in logging the setpoints that the underlying controller tracks. My current understanding is the following: For the various set point modes available (position, velocity, attitude), the commanderGetSetpoint(&setpoint, &state) computes the necessary setpoint needed to execute a...

It is working well now. I had the followed the wiki while using calibration data from the VIVE controller instead of using the calibration method computed on-board the drone. After using the drone to calibrate itself, I am getting very clean and accurate estimates.

I will close the topic.

I used LH V1 earlier in February 2020 using 2019 CF release. It worked very reliably. This week I moved to the 2020 release. I calibrated and flashed using the following wiki: https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/functional-areas/lighthouse_overview/ My state es...

Thanks guys. It worked.

Simply had to set "CENTER_AROUND_CONTROLLER = True".

Here's the new kalman state positions.
I think the topic can be closed.

Yes, I read that. ... you can open the get_bs_position.py script and modify the top of it to set “CENTER_AROUND_CONTROLLER = True”. Be aware that this will put the SteamVR and your space out of sync, so none of the example using the SteamVR coordinate will work correctly. Reading that, I assumed cer...

I am trying to read in position data of cf using the asynchronous logger script in python. I commented out line #151 and uncommented #150 of autonomousSequence.py script: https://github.com/bitcraze/crazyflie-lib-python/blob/master/examples/autonomousSequence.py#L151 I get the following output: pyth...

I am confused with so many logging variables giving position, velocity, and attitude estimates. There's lighthouse.x/y/z, kalman.stateX/Y/Z, stateEstimate.x/y/z. Similarly, for velocities and attitudes. Then there's also stabilizer.roll/pitch/yaw. Which ones should I work with if i want: Linear stat...