Wrong position estimate from drone using LPS [SOLVED]
Posted: Wed Jul 03, 2019 11:28 am
Hello. We are two students working on a crazyflie 2.1 this summer with the intent to test out autonomous flying of a drone. We have followed your guides up to this point, and we are currently testing out our drone with LPS. Our problem is that the drone seems to have a different perception of what one meter above ground is on different places of the room (differs maybe 50 cm). We have tested and ruled out the following:
We use TWR with 8 nodes, and all the nodes are green in the crazyflie status-board. All the nodes are at least 0.15 m away from ground/walls and there are at least two meters distance between each node.
Note: The error is consistent, meaning that one meter is always correct (that is, actually one meter) in some parts of the room, and wrong on other parts (that is, maybe only 0.4 m above ground, when the reported height from the drone is 1 m)
Thank you in advance!
- Unbalanced propellers
- Wrong distance between nodes
- Different nodes having different modes (TWR vs. TDoA)
- Error in the code (the error applies to both moving it around by hand (or something with a known height, like a chair) and with a code, like examples/autonomousSequence.py)
- Old firmware on drone and/or nodes
We use TWR with 8 nodes, and all the nodes are green in the crazyflie status-board. All the nodes are at least 0.15 m away from ground/walls and there are at least two meters distance between each node.
Note: The error is consistent, meaning that one meter is always correct (that is, actually one meter) in some parts of the room, and wrong on other parts (that is, maybe only 0.4 m above ground, when the reported height from the drone is 1 m)
Thank you in advance!