Hello,
I work for a school project on the crazyflie. I want to do an autonomous fly with the loco positionning system with a python code but when i run the code we can see a big difference between the real z and the kalman.stateZ.
The first autonomous fly is an hovering fly after it will be a trajectory.
How can i increase the precision of the stateZ ?
unprecise axe z
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kristoffer
- Bitcraze
- Posts: 630
- Joined: Tue Jun 30, 2015 7:47 am
Re: unprecise axe z
Hi!
First step is to make sure the anchors have "good" positions. Ideally you should have anchors above and under your flight path.
We have noticed a problem with Z sometimes and suspect that there is a bug that we do not fully understand yet, but we think it might be related to noise from the accelerometer.
First step is to make sure the anchors have "good" positions. Ideally you should have anchors above and under your flight path.
We have noticed a problem with Z sometimes and suspect that there is a bug that we do not fully understand yet, but we think it might be related to noise from the accelerometer.
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maxoullaume
- Beginner
- Posts: 2
- Joined: Tue Nov 07, 2017 3:39 pm
Re: unprecise axe z
Ok ! thank you for your answer.
The anchors have their good position, we have 6 anchors which are place like on the site, 3 above and 3 under in triangle.
I'll try to modify the estimator_kalman.c to reduce the weight/noise of the accelerometer in the kalman's filter.
++.
The anchors have their good position, we have 6 anchors which are place like on the site, 3 above and 3 under in triangle.
I'll try to modify the estimator_kalman.c to reduce the weight/noise of the accelerometer in the kalman's filter.
++.