Bitcraze Forums

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

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

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

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