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LPS unable to estimate position

Posted: Sun Dec 08, 2019 9:09 pm
by mbgm5tm2
After setting up and installing all the firmware for the crazyflie 2.1 and the 8 LPS anchors set to TWR mode, The CFclient LOCO POS tab returns unsuable values. The returned values often drift around with noise and when moving the crazyflie within the area, the movement and position is not reflected in the cf client visualiser plot. All 8 nodes are shown as green and positions data correctly configured.

The vertical position is occasionally correctly displayed but I suspect this is due to the flow deck that is installed as it displays an identical height value.

I have tried to switch it to anchor identification and it would occasionally corectly identify all the anchors when placing the crazyflie near the tags but the software would freeze after a long time of use (10 mins). This would require a restart of both the drone and the client.

Furthermore, when the crazyflie is tilted within the space, the reading on the cfclient would show that the crazyflie has drifted outside the area.

Crazyflie 2.1 (single, not swarm)
Loco Position System (8 nodes) setup to 8 corners
2x2x1m area (x,y,z)
Ubunut 16.04
communication through crazyradio PA

Completed tutorials with no problems. ... yflie-2-0/ ... ng-system/

I am currently just trying to get a usable reading for a university project on localisation. Any help would be great!

Re: LPS unable to estimate position

Posted: Mon Dec 09, 2019 2:08 pm
by kristoffer
There are some known issues using the flow deck together with the LPS ( ... issues/523). As a first step I suggest that you remove the Flow deck and check if you get better results with LPS only.