Thanks a lot! That was precious!
I also added a "wait_for_position_estimator" to let the Kalman converge, and it works correctly (except on Z, but probably we accidentally covered the flowdeck).
I just have one more question: when we removed the flowdeck and let CF take external measurements from Vicon only, it did not work. Actually, it didn't even take off, since values in wait_for_position_estimator were not converging under the threshold.
I think we set Kalman with the following lines, AFTER the logging configuration (adding the variables to Log and the callback, and logconf.start()): should it be put BEFORE all of that?
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