I'm trying to set up the lighthouse positioning system V2 with my crazyflie. I followed the steps here - https://www.bitcraze.io/documentation/r ... etting_up/. When I run the get_bs_geometry.py script, I get reasonable estimates, so I flash it with make clean all cload. The lighthouse deck seems to load up fine, the sequence matched the video you had posted in another thread.
Now, when I check the cfclient, the raw and compensated angles plot change as I move the drone around. But the problem is that the x,y,z state estimate plot is messed up. It does change when I move the drone around but the values are not reasonable. And in the console, I get the "ESTKALMAN: State out of bounds", resetting message.
Where could I be going wrong?
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SYS: Crazyflie 2.1 is up and running!
SYS: Build 77:8b22ee23e69f (2020.09 +77) MODIFIED
SYS: I am 0x203936564E4B501300270053 and I have 1024KB of flash!
CFGBLK: v1, verification [OK]
DECK_CORE: 1 deck(s) found
DECK_CORE: Calling INIT on driver bcLighthouse4 for deck 0
IMU: BMI088 Gyro I2C connection [OK].
IMU: BMI088 Accel I2C connection [OK]
IMU: BMP388 I2C connection [OK]
ESTIMATOR: Estimator type forced
ESTIMATOR: Using Kalman (2) estimator
CONTROLLER: Using PID (1) controller
MTR-DRV: Using brushed motor driver
EEPROM: I2C connection [OK].
STORAGE: Storage check [OK].
IMU: BMI088 gyro self-test [OK]
STAB: Wait for sensor calibration...
SYS: Free heap: LHFL: Lighthouse bootloader version: 2
20936 bytes
STAB: Ready to fly.
LHFL: Firmware version 5 verified, booting deck!
Got calibration from CA34274D
ESTKALMAN: State out of bounds, resetting