Setting parameters when autonomous / set kalman state
Posted: Mon Apr 12, 2021 3:39 pm
We are working on an autonomous swarm and I had some trouble where drones seem to hang when certain commands where issued on the drone.
Whenever I wanted to debug via radio / usb connection and the console prints, everything was fine. So this took me a while...
Turns out I was writing parameters within my function. When parameters are changed these are reported back to the connected client. This function blocks! If there is no client it will wait till there is one.
Is there a reason the clientupdate is implemented blocking? Also found the compiler switch to deactivate this (define), still I do not see the reasoning for the blocking.
What I am trying to do in the first place is setting the state estimation to a new value (e.g. not providing a meassurement but actually overwriting the internal state). Is there a nicer function than setting the parameters and thereafter ?
( PS: it would be nice to have a way to have "inline" BBCode for fixed width fonts to refer to functions in text rather then blocks. )
Whenever I wanted to debug via radio / usb connection and the console prints, everything was fine. So this took me a while...
Turns out I was writing parameters
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paramSetFloat()
Is there a reason the clientupdate is implemented blocking? Also found the compiler switch to deactivate this (define
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SILENT_PARAM_UPDATES
What I am trying to do in the first place is setting the state estimation to a new value (e.g. not providing a meassurement but actually overwriting the internal state). Is there a nicer function than setting the
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("kalman","initial*")
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("kalman","resetEstimation")
( PS: it would be nice to have a way to have "inline" BBCode for fixed width fonts to refer to functions in text rather then blocks. )