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:
Code: Select all
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?
Cheers,
Michael