Where does the EKF incorporates the uwb measurements?

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nicuvlad94
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Where does the EKF incorporates the uwb measurements?

Post by nicuvlad94 »

Hello,

Can someone point me to the file where the ekf updates the state estimate with the measurements obtained from the UWB anchors (TWR)?

Thank you!
Vlad
kristoffer
Bitcraze
Posts: 322
Joined: Tue Jun 30, 2015 7:47 am

Re: Where does the EKF incorporates the uwb measurements?

Post by kristoffer »

Hi!

It is done in kalmanCoreUpdateWithDistance()
https://github.com/bitcraze/crazyflie-f ... #L367-L396
nicuvlad94
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Joined: Sun Sep 08, 2019 12:44 pm
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Re: Where does the EKF incorporates the uwb measurements?

Post by nicuvlad94 »

Thank you! I managed to use it!
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