Crazyflie 2.1 - Acceleration measurement

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vannem
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Joined: Tue Apr 26, 2022 3:20 am

Crazyflie 2.1 - Acceleration measurement

Post by vannem »

I am using crazyflie 2.1 for my project and I need a good estimate of the drone acceleration. I tried using finite differencing of position but it was very noisy so looking for more accurate methods.
kristoffer
Bitcraze
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Joined: Tue Jun 30, 2015 7:47 am

Re: Crazyflie 2.1 - Acceleration measurement

Post by kristoffer »

Maybe the accelerometers?
vannem
Beginner
Posts: 2
Joined: Tue Apr 26, 2022 3:20 am

Re: Crazyflie 2.1 - Acceleration measurement

Post by vannem »

Hey kristoffer, how do you access the accelerometer data?
kristoffer
Bitcraze
Posts: 629
Joined: Tue Jun 30, 2015 7:47 am

Re: Crazyflie 2.1 - Acceleration measurement

Post by kristoffer »

The data is available as log values.

You can read about the log and param framework here: https://www.bitcraze.io/documentation/r ... /logparam/
And about how to plot log data in the client here: https://www.bitcraze.io/documentation/r ... otter_tab/

All logs are documented here: https://www.bitcraze.io/documentation/r ... /logs/#acc
The accelerometers can be found in the acc group
You might also be interested in the acceleration estimated by the estimator, they can be found in the stateEstimate group

There is a step-by-step guide for how to use logs from the python lib here: https://www.bitcraze.io/documentation/r ... log_param/
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