Erratic and Conflicting Roll, Pitch and Yaw values.
Posted: Tue May 04, 2021 5:03 am
Hi All,
I am getting some strange readings from the state estimate log that I just cant iron out enough for them to be useable.
Across three different drones. with completely stock firmware. I am getting very erratic roll pitch and yaw readings. I also get different readings across all three drones.
In this test each drone was 1.2m below the BS's. 1.8m away from the BS's and directly in front of the BS's. There were 2 BS on at the time. Channel 1 and Channel 2. The Lighthouse deck is mounted on top of the drone and is pushed all the way up to the top of a set of extra long pins (I assume this is the best way to ensure the deck is paralell with the chassis as the pins are pushed all the way into the drone). The Crazyflie was flashed, then the estimate geometry button was pressed and the values written to the crazyflie. These screenshots were taken after the 500 sample slots were filled (about 5 sec after starting the plot).
Q1 - Why are these readings so erractic compared to the x, y and z estimates which are rock solid?
Q2 - Why are they hovvering around different values across the three drones
Q3 - What values should they be? (I assue they should all be 2 * pi ~6.28 as the drone has not moved from the positino it was calibrated from...)
I am getting some strange readings from the state estimate log that I just cant iron out enough for them to be useable.
Across three different drones. with completely stock firmware. I am getting very erratic roll pitch and yaw readings. I also get different readings across all three drones.
In this test each drone was 1.2m below the BS's. 1.8m away from the BS's and directly in front of the BS's. There were 2 BS on at the time. Channel 1 and Channel 2. The Lighthouse deck is mounted on top of the drone and is pushed all the way up to the top of a set of extra long pins (I assume this is the best way to ensure the deck is paralell with the chassis as the pins are pushed all the way into the drone). The Crazyflie was flashed, then the estimate geometry button was pressed and the values written to the crazyflie. These screenshots were taken after the 500 sample slots were filled (about 5 sec after starting the plot).
Q1 - Why are these readings so erractic compared to the x, y and z estimates which are rock solid?
Q2 - Why are they hovvering around different values across the three drones
Q3 - What values should they be? (I assue they should all be 2 * pi ~6.28 as the drone has not moved from the positino it was calibrated from...)