initial state

Discussions and questions about the Crazyflie Nano Quadcopter
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yuhsiang
Beginner
Posts: 16
Joined: Wed Mar 03, 2021 11:53 am

initial state

Post by yuhsiang »

Hi,

When I connect to the Crazyflie2.1, the initial state x is not zero!
I have tried to restart the Crazyflie and connect to the pc client. However, the initial state estimation of x is not zero every time.
I also checked the parameter, it shows 1.5 in kalman.initial x.
The firmware of the Crazyflie is up to date 2021.03. While updating the Crazyflie firmware, I had the flow deck attached.

Could you please help me with this issue? Is there anything wrong with the estimator? Or is there an issue with the new firmware. I don’t have this issue before updating the Crazyflie firmware. But I don’t know what is the older firmware I used before.

Thank you
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Last edited by yuhsiang on Wed Apr 21, 2021 6:29 pm, edited 4 times in total.
yuhsiang
Beginner
Posts: 16
Joined: Wed Mar 03, 2021 11:53 am

Re: initial state

Post by yuhsiang »

Also, the parameter of the stabilizer.estimator is 2.
I have attached a flow deck on the Crazyflie.
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yuhsiang
Beginner
Posts: 16
Joined: Wed Mar 03, 2021 11:53 am

Re: initial state

Post by yuhsiang »

May I ask why the initial x is set to be 1.5 here?

https://github.com/bitcraze/crazyflie-f ... ore.c#L140
kristoffer
Bitcraze
Posts: 459
Joined: Tue Jun 30, 2015 7:47 am

Re: initial state

Post by kristoffer »

Hi!

It seems as the number was changed accidentally in a pull request. It has now been fixed in https://github.com/bitcraze/crazyflie-f ... issues/760

Good catch!
yuhsiang
Beginner
Posts: 16
Joined: Wed Mar 03, 2021 11:53 am

Re: initial state

Post by yuhsiang »

Hi,

Thank you.
When will this change be available?

Sincerely,

Yu-Hsiang
arnaud
Bitcraze
Posts: 2459
Joined: Tue Feb 06, 2007 12:36 pm

Re: initial state

Post by arnaud »

It is now in the git repos so it is available if you compile and flash the firmware from source. It will be part of the next release but we do not know when that will be yet.

You can also set the initial ekf position with the parameters and reset the EKF using parameter as well to get the current version to start at (0,0,0)
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