- Crazyflie 2.1 + flow v2
- Ubuntu 18.04
- Python 3.6.8
- crazyflie-firmware and crazyflie-lib-python from the latest commits to master (https://github.com/bitcraze/crazyflie-f ... 885f68b934 & https://github.com/bitcraze/crazyflie-l ... c16e9453b1)
When the parameter stabilizer.estimator is set to 2, trying to set kalman.resetEstimation to 1 (via self._cf.param.set_value) has no effect and it remains at 0 no matter how many times I try. However, if I first set stabilizer.estimator to 1 and then set kalman.resetEstimation to 1 then the value changes without problems. The thing that I don't get from this behavior is that, taking a look at the following enum
Code: Select all
typedef enum {
anyEstimator = 0,
complementaryEstimator,
kalmanEstimator,
StateEstimatorTypeCount,
} StateEstimatorType;
- which is defined in estimator.h and it is from where the logged parameter stabilizer.estimator takes its value- it seems that a value of 2 for the stabilizer.estimator parameter means that the kalman estimator is being used whereas a value of 1 means that the complementary estimator is being used.
Does that mean that when using the Kalman estimator there isn't the possibility to reset the estimation or am I misunderstanding something?