Problems with Kalman Filter

Discussions related to positioning systems where the position is calculated outside the Crazyflie and sent to the device using radio, including MoCap systems
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suarez_ramon
Beginner
Posts: 1
Joined: Thu Jul 20, 2017 10:01 am

Problems with Kalman Filter

Post by suarez_ramon » Thu Jul 20, 2017 10:05 am

I am using the controller made by Mike Hamer (https://github.com/mikehamer/crazyflie- ... controller). Everything seems to be setup the correct way, the only problem I am having is that the output of the Kalman Filter implemented on board is very bad and diverges quickly after take off. Has anybody had this problem?

arnaud
Bitcraze
Posts: 1218
Joined: Tue Feb 06, 2007 12:36 pm

Re: Problems with Kalman Filter

Post by arnaud » Thu Jul 20, 2017 10:10 am

Since you are sending position update using the external position update port, you can look at the external position log variables to make sure the position really makes it to the Crazyflie. The log variables are defined there: https://github.com/bitcraze/crazyflie-f ... #L194-L198, they are named ext_pos.X/Y/Z.

It means the the estimated position is correct before takeoff? Do you start the crazyflie with the front facing X? (like so: https://www.bitcraze.io/getting-started ... m/#intro18)

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