As I understand, the Kalman filter is for sensor fusion to achieve more accurate positioning results (IMU/AHRS+Positioning Data).
I am currently trying to log the DWM1000 positioning data before it gets into the Kalman filter, because I need the "raw" positioning data. For this purpose I introduced a new logging block as follows (estimator_kalman.c):
Code: Select all
LOG_GROUP_START(dwm1000_raw) LOG_ADD(LOG_FLOAT, positionX, &coreData.B) LOG_ADD(LOG_FLOAT, positionY, &coreData.B) LOG_ADD(LOG_FLOAT, positionZ, &coreData.B) LOG_GROUP_STOP(dwm1000_raw)
I initialize the B array with 0.0 in kalmanCoreInit() function at kalman_core.c. This function is called successfully, tested with my ST-Link/v2 debugger and also with some initial values other 0.0 and it displayed fine in the PC-Client.
However, I tried many different functions to assign the DWM1000 raw positioning values to the B array; such as:
https://github.com/bitcraze/crazyflie-f ... man.c#L542
https://github.com/bitcraze/crazyflie-f ... ore.c#L319
https://github.com/bitcraze/crazyflie-f ... tor.c#L159
Unfortunately to no avail. These functions seem not to be called at all; although my LocoPositioning setup works fine, since I get positioning data in the PC-Client's LocoPos tab.
Any hints / ideas at which code line I could grab the raw DMW1000 positioning data?