Using Logging to record loco deck location
Posted: Mon Nov 06, 2017 2:51 pm
Which parameter to log in order to record the loco deck location?
The estimated position is available in kalman.stateX, kalman.stateY and kalman.stateZ
Sometimes it takes a while for the Kalman filter to converge and find the position. We sometimes use a hack (not theoretically correct but seems to work pretty OK) to understand if the filter has converged or not by looking at kalman.varPX, kalman.varPY and kalman.varPZ. An example implementation can be found in https://github.com/bitcraze/crazyflie-l ... equence.py, line 63