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Accuracy of Height Calculation

Posted: Wed Feb 05, 2020 1:44 pm
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

Re: Accuracy of Height Calculation

Posted: Thu Feb 06, 2020 9:05 am
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.

Re: Accuracy of Height Calculation

Posted: Thu Feb 06, 2020 12:58 pm
by Risee
Thanks for the answer

i will try to change TDoA 3 and test it