Accuracy of Height Calculation

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Risee
Beginner
Posts: 3
Joined: Mon Jul 29, 2019 11:51 am

Accuracy of Height Calculation

Post by Risee »

Hi All!

I'm doing expirements with the LPS TDoA-2 Mode

When i take off the 1 crazyflie on hover mode its not doing proper hover

here is the video

https://streamable.com/s/2qgos/cfyew

sorry for vertical recording
kristoffer
Bitcraze
Posts: 369
Joined: Tue Jun 30, 2015 7:47 am

Re: Accuracy of Height Calculation

Post by kristoffer »

Hi!

If you use TDoA2, you should start by tweaking the outlier filter a bit. The outlier filter was originally written and optimized for TDoA3 and is suboptimal for TDoA2. See https://github.com/bitcraze/crazyflie-f ... issues/549.

Change the https://github.com/bitcraze/crazyflie-f ... lter.c#L33
This should get rid of some more outliers.

From your video it looks like there might be something else going on as well, but improving the filter should be a good start. Try it out and let us know if it made any difference.

Also, have you considered using TDoA3 instead of TDoA2? TDoA3 should have similar performance, but is much more robust to failing software, hardware and other problems.
Risee
Beginner
Posts: 3
Joined: Mon Jul 29, 2019 11:51 am

Re: Accuracy of Height Calculation

Post by Risee »

Thanks for the answer

i will try to change TDoA 3 and test it
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