Bitcraze Forums

After going through the forum, I found out that the position updates from external positioning systems should be sent to estimatorEnqueuePosition (https://github.com/bitcraze/crazyflie-f ... ice.c#L141)

Further there is another position update method implemented for Kalman Estimator. ( https://github.com/bitcraze/crazyflie-f ... lman.h#L72 ).

My question is if we have a GPS module connected to the CF and method to convert the GPS coordinates to the world coordinates x,y , which method should be selected to send the position ? The goal is to incorporate the coordinates from the GPS to avoid the drift of the position estimation of Kalman Filter?

estimatorEnqueuePosition() will send the position to the active estimator and is the one that should be used. By default the enabled estimator is the complementary estimator but you can make sure the kalman estimator is enabled using settings in your deck driver (I assume you have a deck driver to interface the GPS module), an example of how to do so is in the flow deck driver: https://github.com/bitcraze/crazyflie-f ... 1v2.c#L216.