[solved] Custom flight stack with Crazyflie Kalman Estimator
Posted: Fri Mar 08, 2019 4:36 pm
Hi everyone.
I implemented some parts of your firmware in my custom flight stack based on ChibiOS/RT and a Teensy board with MPU9250, in particular the Kalman estimator that Mark made for Crazyflie.
I have a strange behavior. The attitude is calculated correctly during the movement, the indicator follows the angles very well. However, when I stop moving the flight controller, the angles of roll, pitch and yaw slowly tend to zero even if I keep the flight controller tilted (eg 30° roll and 15° pitch).
The IMU is read correctly, if I replace EKF estimator with the Mahony filter everything works fine, if I keep the flight controller with certain angles the indicator stays in position.
Could you give me some tips to figure out what am I doing wrong? Is it a different orientation problem than my IMU compared to Crazyflie?
I know this question is a bit off topic, but I would just like to know if it has already happened to you and if you have any advice.
Thanks anyway.
I implemented some parts of your firmware in my custom flight stack based on ChibiOS/RT and a Teensy board with MPU9250, in particular the Kalman estimator that Mark made for Crazyflie.
I have a strange behavior. The attitude is calculated correctly during the movement, the indicator follows the angles very well. However, when I stop moving the flight controller, the angles of roll, pitch and yaw slowly tend to zero even if I keep the flight controller tilted (eg 30° roll and 15° pitch).
The IMU is read correctly, if I replace EKF estimator with the Mahony filter everything works fine, if I keep the flight controller with certain angles the indicator stays in position.
Could you give me some tips to figure out what am I doing wrong? Is it a different orientation problem than my IMU compared to Crazyflie?
I know this question is a bit off topic, but I would just like to know if it has already happened to you and if you have any advice.
Thanks anyway.