Bitcraze Forums

Hello,

I work for a school project on the crazyflie. I want to do an autonomous fly with the loco positionning system with a python code but when i run the code we can see a big difference between the real z and the kalman.stateZ.
The first autonomous fly is an hovering fly after it will be a trajectory.
How can i increase the precision of the stateZ ?

Hi!

First step is to make sure the anchors have "good" positions. Ideally you should have anchors above and under your flight path.

We have noticed a problem with Z sometimes and suspect that there is a bug that we do not fully understand yet, but we think it might be related to noise from the accelerometer.

Ok ! thank you for your answer.

The anchors have their good position, we have 6 anchors which are place like on the site, 3 above and 3 under in triangle.
I'll try to modify the estimator_kalman.c to reduce the weight/noise of the accelerometer in the kalman's filter.

++.