Modifying the Kalman Filter?
Posted: Thu Apr 07, 2022 3:21 am
Hello, crazyfliers!
I am a Crazylie Bolt user, and our team creates "unnormal" drones with Bolt, i.e., the rotor placements are different from normal quadrotors. I would like to ask a series of questions about the stabilizer on firmware. Thanks in advance to anyone that can help!
1. What triggers the Kalman filter to reset? From my observation on cfclient, the Kalman filter reset happens when the estimated angular velocity exceeds an upper bound. Everything resets to 0 as a result, including the estimated position and roll-pitch-yaw. Is there a way to temporarily disable the reset?
2. Since we build drones of special structures, are we able to change the dynamic model in the Kalman filter so that the estimation conforms to our real model? For the controller and the power distribution, we are able to make the change by altering several lines in the corresponding files. Are we able to do similar things to the Kalman filter?
Cheers!
Jiawei
I am a Crazylie Bolt user, and our team creates "unnormal" drones with Bolt, i.e., the rotor placements are different from normal quadrotors. I would like to ask a series of questions about the stabilizer on firmware. Thanks in advance to anyone that can help!
1. What triggers the Kalman filter to reset? From my observation on cfclient, the Kalman filter reset happens when the estimated angular velocity exceeds an upper bound. Everything resets to 0 as a result, including the estimated position and roll-pitch-yaw. Is there a way to temporarily disable the reset?
2. Since we build drones of special structures, are we able to change the dynamic model in the Kalman filter so that the estimation conforms to our real model? For the controller and the power distribution, we are able to make the change by altering several lines in the corresponding files. Are we able to do similar things to the Kalman filter?
Cheers!
Jiawei