Bitcraze Forums

Posted: **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

Posted: **Tue Jun 02, 2020 6:58 am**

Hi!

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

Posted: **Fri Jun 05, 2020 11:58 am**

Thank you! I managed to use it!

Bitcraze Forums

Where does the EKF incorporates the uwb measurements?

Where does the EKF incorporates the uwb measurements?

Re: Where does the EKF incorporates the uwb measurements?

Re: Where does the EKF incorporates the uwb measurements?