Accelaration of the Crazyflie

Firmware/software/electronics/mechanics
Post Reply
Cery
Beginner
Posts: 1
Joined: Mon Mar 30, 2020 4:33 am

Accelaration of the Crazyflie

Post by Cery » Mon Mar 30, 2020 4:41 am

Hi there,

I am working on a student project with the CF and using the Commander Class with Flow deck for control. However, I was wondering what is real the acceleration in x, y and z direction of the CF when I send a send_velocity_world_setpoint() or send_hover_setpoint() command?

Cheers


Failure Is Not an Option.

kimberly
Bitcraze
Posts: 323
Joined: Fri Jul 06, 2018 11:13 am

Re: Accelaration of the Crazyflie

Post by kimberly » Mon Mar 30, 2020 9:51 am

For accelerations, you can check out these logging values in the logging tab of the cfclient or in your script for the global coordinates: stateEstimate.ax, .ay, .az (https://github.com/bitcraze/crazyflie-f ... #L646-L648)

For body fixed coordinates, you should probably look at the raw acceleration data since those are not estimate din the state estimator: acc.x / z /y (https://github.com/bitcraze/crazyflie-f ... #L593-L597)

Post Reply