I'm developing a system, where a drone can also act as an anchor in a TWR-based system, when it is placed on the ground.
At the moment I use the normal anchors as anchors
I'm using the loco-deck, so I disabled the locodeck-driver and wrote a new one.
It works, but the problem is, that the accuracy is quite bad.
I'm not sure if I am feeding the kalman correctly:
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distanceMeasurement_t dist; dist.distance = distance; dist.x = x; dist.y = y; dist.z = z; dist.stdDev = 0.3; estimatorEnqueueDistance(&dist);
Should I may do some outlier-filtering?
I do 30 measurements per second, but the drone can barely fly in this system.
I can program some trajectories, and it tries to fly them, but it look very wobbly and instable.
Does anybody may know, what I'm doing wrong?