Bitcraze Forums

hi,arnaud

1. I am studying the LPS code of crazyflie. I know the twr algorithm only get the distance between CF and anchor. I don't understand how to get position of CF only based on the distance. Is stateEstimatorUpdateWithDistance() the function getting the position? is there any Reference material or formula about these code.
2. I want add some debug message about the position of CF, I should printf the S[STATE_X], S[STATE_Y],S[STATE_Z], right？

Thanks

Hi,

1. The position is calculated by the Kalman filter, look in the kalman filter it is based on a couple of papers mostly form ETH Zurich: https://github.com/bitcraze/crazyflie-f ... r_kalman.c

2. You can print these on the console yes. You could also use the log subsystem to log and record the x/y/z state on the ground.