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Using lighthouse and Flow v2 at the same time
Posted: Wed Nov 25, 2020 7:45 pm
by melaniea360
I would like to use the lighthouse deck just for monitoring the position of the drone, and the flow deck as intended. Is there a way to stop the drone from using the lighthouse deck position info to correct drift/position/orientation/etc and just use the flow deck for positioning?
Re: Using lighthouse and Flow v2 at the same time
Posted: Thu Nov 26, 2020 8:52 am
by kimberly
You will need to prevent the measurements to be send to the kalman filter. The default method sends sweepangles to the kalmanfilter, so that will not give you a 'ground truth' position immediately, but the crossing beam method does. That one actually first calculates the x,y,z position and then sends that to the kalman filter.
So what you can do is:
1- put the parameter 'lighthouse.method' to 0 (crossing beam)
2- comment out
this line to prevent the calculated position to be send to the kalman filter
3- Monitor the lighthouse position from the log: 'lighthouse.x/y/z'.
This will only work with two basestations.