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Also, you are using 3 different positioning systems on the crazyflie, Mocap flowdeck and UWB. I'm even surprised that the kalman filter is able to handle all of those at the same time! Probably try to see if you are able to get one of those position system to work first... With the yaw rate problem,...

Hi! Which controller do you have configured for this? I would imagine that mellinger would be too aggressive but i'd suprised if the PID controller was not able to handle this. At least in the PID controller, you can set the maximum velocity you want the controller to act on, so try to set that to a...

Ur welcome Just to clarify, I'm talking about the vive basestation V1 here. V2 support is still in development

hi, please don't copy the entire code like that.... we can not see what the difference is with this one and the standard one in the github code. About your problem, it might be that the second crazyflie's kalmanfilter didn't had enough time to converge. Please uncomment this line: # swarm.parallel(r...

Have you tried any of the examples in the 'swarm' folder ?

Hi! The setup documentation: https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/functional-areas/lighthouse_overview/ is currently talking about basestation v1, s o not v2 . The V1 basestations are designed to have a maximum of 2 so there is not really anyway to go around tha...

I don't think that there will be a problem with performance, however (depended on how many crazyflies you will use) communication might be a bottle neck. Also what you need to know about threads, is that it difficult to control when a certain position is copied from the function to the global variab...

Hi! 1. Yes lighthouse is much better than LPS system with 4 and 8 anchors. LPS has cm-precision while the lighthouse system has (sub) milimeter precision 2. There is no limit, as it does onboard position similar as with the LPS system. The only limitation is how many can fly in one space and if it i...

Ah oke I guess it was just miscommunication. You also mentioned in the first post about the LPS system (which is another positioning system) but you actually mean the Lighthouse system do you? What you can also try with the sweepangle menthod, is to just have the master basestation on ('B') and see ...

If you tried out 0, then that is still probably using the kalmanfilter, since that is the indicator of 'anyEstimator' (see here: https://github.com/bitcraze/crazyflie-firmware/blob/b7f560e6c2ffc9eb2138706e5a203700f7c8fc3e/src/modules/interface/estimator.h#L31). Complementary filter is 1 and the Kalm...