Bitcraze Forums

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?

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...

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...

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". W...

Yes, if x, y, z is set to disabled and roll/pitch is set to modeAbs and yaw to modeVel, that is equivalent to attitude mode. Are you sure this is enough? Because I am commanding a setpoint (with the same config you suggested) in a loop and the motors don't start at all. I would expect that motors s...

Thank you for your reply! I will try the attitude mode as you suggested (because in my setup I also kept x and y to modeAbs). Also, for the hand release, I will try at least to hold it from the upper side, because I am using a self-developed shield at the moment and this gives me some "handler&...

Thank you! I will post my issue soon! I still have some further questions: Setting x,y,z to modeDisable is equivalent to running the drone in attitude mode (where also flow deck is not used?) I tried to put x and y to modeAbs and z to modeVelocity. And then I commanded a setpoint of (0,0,0). In this...

Ok. This is unexpected, maybe a debias of the gyro would help. I am not sure if crazyflie has it: i.e. leave the drone on flat ground for a few seconds and perform the average of the measured angular velocities. Then, substract these values from any future measurement. Is such thing implemented in C...

I understand. But as long as I am using the flow deck, the Kalman estimator is the way to go for me. Talking about estimators, I would have a question about the initialization of the estimator. Basically, what is the zero degrees yaw position? Is it the axis pointing to North, or it is just the posi...

Thank you for your answer! Yes, I knew about this so I put my additions in tools/make/config.mk: Does it make any difference if I force the estimator to Kalman? I thought it is anyway the default one.