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 » Mon Jun 01, 2020 6:08 pm

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
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Re: Where does the EKF incorporates the uwb measurements?

Post by kristoffer » Tue Jun 02, 2020 6:58 am

Hi!

It is done in kalmanCoreUpdateWithDistance()
https://github.com/bitcraze/crazyflie-f ... #L367-L396

nicuvlad94
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Re: Where does the EKF incorporates the uwb measurements?

Post by nicuvlad94 » Fri Jun 05, 2020 11:58 am

Thank you! I managed to use it!

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