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It looks great! Thanks for sharing the video .

Out of curiosity, why do you have a string hanging from the CF?

Just to be clear about the start orientation: this is currently a hard requirement of the system, so it is not a bug but more a property of the UWB positioning system. In theory it would be possible to start in any orientation and guess quickly the position when the CF is moved or when it takes of, but I am not sure how good it can be made.

Hi Arnaud,

No problem, and thanks! Noted on the requirement, it doesn't bother us for what we are trying to do.

The string was there to test the positioning control we put together (we pull the the CF to another location and watch it come back).

Position control is working really well now, we are working now on improving our algorithm to remove the z range finder whilst maintaining good z position accuracy (within the limits of the LPS).

Thanks!