Lighthouse versus other state estimates: which one to log/pull?
Posted: Sun Feb 16, 2020 11:24 pm
I am confused with so many logging variables giving position, velocity, and attitude estimates.
There's lighthouse.x/y/z, kalman.stateX/Y/Z, stateEstimate.x/y/z. Similarly, for velocities and attitudes. Then there's also stabilizer.roll/pitch/yaw.
Which ones should I work with if i want:
PS: I am using a LH for localizing the cf.
There's lighthouse.x/y/z, kalman.stateX/Y/Z, stateEstimate.x/y/z. Similarly, for velocities and attitudes. Then there's also stabilizer.roll/pitch/yaw.
Which ones should I work with if i want:
- Linear states:
- position in world frame
- velocity in world frame
- acceleration in world frame
- Angular states:
- Roll/pitch/yaw angles
- velocity in body frame
- acceleration in body frame
PS: I am using a LH for localizing the cf.