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EKF variance and CMSIS nan values
Posted: Tue Jan 15, 2019 11:39 am
by Guglie
Hi, I've noticed that sometimes the EKF reaches high variance in
and that leads to a filter reset.
This is due to
(from
CMSIS-DSP library) returning
inf or
nan values sometimes.
Have you experienced the same thing? How can I reduce this to achieve better positioning?
Re: EKF variance and CMSIS nan values
Posted: Wed Jan 16, 2019 9:02 am
by arnaud
With what firmware version have you observed this?
We have seen some occurence of the EKF diverging mostly when starting the Crazyflie well outside the TDOA system. We have tried to isolate the points where a NaN could appear and solve it over time but maybe there is still some left.
Can you see a pattern of for when this kind of problem happen?
Re: EKF variance and CMSIS nan values
Posted: Wed Jan 16, 2019 11:24 am
by Guglie
Hi arnaud, thanks for your reply,
So the matrix multiplication from CMSIS library is known to have some specific values that do not work?
I'm using a custom firmware to understand and maybe test sightly changes of the TDoA2 localization algorithm, can you explain (or point me where to look at) how you isolated the points and solve it?