Data Logging

[Calvin Chua]

Hi all, from this webpage, it shows that yaw, pitch, roll and thrust can be logged from crazyflie. https://www.bitcraze.io/documentation/r ... /logparam/
However, is it possible to log the velocity or acceleration value from the crazyflie. Or in short, is there a list of parameters that can be logged from it and the group that it belongs to?

Thanks

[kimberly]

Yes it is possible.

These are the logs for velocity:

• In global coordinates: stateEstimate.vx,vy,vz (found in stabilizer.c)

• In body coordinates: stateEstimate.statePX,statePY,statePZ (found in estimator_kalman.c)

And for acceleration you can either go stateEstimate.ax,ay,az

[Calvin Chua]

Hi Kimberley,

Can I ask how does the stateEstimate calculates the velocity?
I am applying a height PID controller on the crazyflie.
I am trying to print the height data of the quadcopter using the stateEstimate but it doesnt capture the disturbance I apply to the quadcopter

[kimberly]

The measurement model for the flowdeck is described on the state estimator page. This is part of the stabilizer module.

If you have questions about the application, please start a new forumthread