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Info about Kalman filter

Posted: Wed Oct 24, 2018 1:20 pm
by giandoman
HEllo, i have one question.
Does the Kalman filter works on the firmware even without the LPS and only the flow deck is connected? Or there is another estimator running when LPS is not available?
I'm asking this because on Raffaello D'Andrea's paper is clearly written: "The estimator presented in Section IV relies on the mea- surements of three distinct types of sensors: angular rate gyroscopes, accelerometers, and UWB range sensors. "

Re: Info about Kalman filter

Posted: Wed Oct 31, 2018 9:50 am
by arnaud
Hi, yes the EKF is used to estimate the Crazyflie state when using the flow deck.

The flow update function for the EKF has been implemented as part as M. Grieff Master thesis. You can find the report in the research portal: ... azyflie-20.