I'm trying to set up the lighthouse positioning system V2 with my crazyflie. I followed the steps here - https://www.bitcraze.io/documentation/r ... etting_up/. When I run the get_bs_geometry.py script, I get reasonable estimates, so I flash it with make clean all cload. The lighthouse deck seems to load up fine, the sequence matched the video you had posted in another thread.
Now, when I check the cfclient, the raw and compensated angles plot change as I move the drone around. But the problem is that the x,y,z state estimate plot is messed up. It does change when I move the drone around but the values are not reasonable. And in the console, I get the "ESTKALMAN: State out of bounds", resetting message.
Where could I be going wrong?
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SYS: Crazyflie 2.1 is up and running! SYS: Build 77:8b22ee23e69f (2020.09 +77) MODIFIED SYS: I am 0x203936564E4B501300270053 and I have 1024KB of flash! CFGBLK: v1, verification [OK] DECK_CORE: 1 deck(s) found DECK_CORE: Calling INIT on driver bcLighthouse4 for deck 0 IMU: BMI088 Gyro I2C connection [OK]. IMU: BMI088 Accel I2C connection [OK] IMU: BMP388 I2C connection [OK] ESTIMATOR: Estimator type forced ESTIMATOR: Using Kalman (2) estimator CONTROLLER: Using PID (1) controller MTR-DRV: Using brushed motor driver EEPROM: I2C connection [OK]. STORAGE: Storage check [OK]. IMU: BMI088 gyro self-test [OK] STAB: Wait for sensor calibration... SYS: Free heap: LHFL: Lighthouse bootloader version: 2 20936 bytes STAB: Ready to fly. LHFL: Firmware version 5 verified, booting deck! Got calibration from CA34274D ESTKALMAN: State out of bounds, resetting