How to set the default filter be kalman filter?
Posted: Wed Jun 16, 2021 12:29 am
Hello, everyone,
right now I can use the Optitrack system to receive the true pose information of crazyflie 2.1, and then I am planning to send the pose information into kalman filter(as far as I know, the default filter of crazyflie2.1 is complementary filter).
According to posts viewtopic.php?f=18&t=2831 and viewtopic.php?f=5&t=3068&p=15110&hilit= ... .mk#p15110, it seems that I have to change the config.mk. The steps is as follows:
right now I can use the Optitrack system to receive the true pose information of crazyflie 2.1, and then I am planning to send the pose information into kalman filter(as far as I know, the default filter of crazyflie2.1 is complementary filter).
According to posts viewtopic.php?f=18&t=2831 and viewtopic.php?f=5&t=3068&p=15110&hilit= ... .mk#p15110, it seems that I have to change the config.mk. The steps is as follows:
- go to projects/crazyflie-firmware/tools/make/, and edit config.mk. However, in this directory, I only found the config.mk.example instead of config.mk, so do I need rename config.mk.example into config.mk and then can add ESTIMATOR=kalman?
- according to second post, then I should run 'make clean', 'make', 'make cload' in the console. I tried this, but I received the error like following picture
- what's more, do I have to flash the edited crazyflie-firmware code into crazyflie?
- Could I just use the function activate_kalman_estimator to enable the kalman filter instead of using config.mk?