Query regarding Kalman filter update function.

Discussions about all things Bitcraze
Post Reply
imranmomtaz
Beginner
Posts: 25
Joined: Tue Mar 17, 2020 7:01 pm

Query regarding Kalman filter update function.

Post by imranmomtaz » Fri Apr 17, 2020 1:21 am

Hello,
I needed some help to understand which are the appropriate function for Kalman filter update when
1. I have lighthouse deck
2. I have flow v2 deck
3. I have both flow v2 and lighthouse deck
connected with CF. I can understand the main block is the
scalarUpdate
at

Code: Select all

https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/kalman_core.c#L225
. But I wanted to have better understanding regarding this. Thanks a lot.



kristoffer
Bitcraze
Posts: 256
Joined: Tue Jun 30, 2015 7:47 am

Re: Query regarding Kalman filter update function.

Post by kristoffer » Fri Apr 17, 2020 6:54 am

Hi!

There are a number of functions called in the kalman filter with various sensor data. Pointers to the implementation below.

1. I have lighthouse deck

When running in the default mode, sweep data is pushed to the estimator at https://github.com/bitcraze/crazyflie-f ... use.c#L235 and is handled in the kalman filter at https://github.com/bitcraze/crazyflie-f ... ore.c#L573

In the crossing beams mode position is pushed at https://github.com/bitcraze/crazyflie-f ... use.c#L213 and is handled in the kalman filter at https://github.com/bitcraze/crazyflie-f ... ore.c#L319

Yaw is pushed to the estimator at https://github.com/bitcraze/crazyflie-f ... use.c#L308 and is processed in the kalman filter https://github.com/bitcraze/crazyflie-f ... ore.c#L564


2. I have flow v2 deck

Assuming FlowV2 deck.

The optical flow information (x and y) is pushed to the estimator at https://github.com/bitcraze/crazyflie-f ... 1v2.c#L126 and is processed in the kalman filter at https://github.com/bitcraze/crazyflie-f ... ore.c#L469

The distance information is pushed at https://github.com/bitcraze/crazyflie-f ... er2.c#L142 and processed at https://github.com/bitcraze/crazyflie-f ... ore.c#L537

Post Reply