Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Problems in kalman estimator using LPS and Flow deck at the same time #523

krichardsson opened this issue Dec 9, 2019 · 2 comments


Copy link

@krichardsson krichardsson commented Dec 9, 2019

There seems to be some sort of clash in the kalman filter when using a Flow deck and LPS at the same time.
Reported symptoms is that it works for a while but suddenly flips.

@krichardsson krichardsson changed the title Problems using LPS and Flow deck at the same time Problems in kalman estimator using LPS and Flow deck at the same time Jan 29, 2020
Copy link
Member Author

@krichardsson krichardsson commented Apr 30, 2020

Increasing the std dev of the flow deck makes it less dominant in the kalman filter and the CF less prone to flipping when the flow and LPS is giving conflicting data.
Settings are here
Around 10.0 seemed to work in a quick test.

Copy link

@knmcguire knmcguire commented Aug 14, 2020

Currently there have been improvements to the flowdeck implementation within the kalmanfilter in #608. The standard deviation of the flow measurements was way too small and therefore if the flowdeck was not able to detect flow, it will crash since it trusted it too much.

Now with the new implementation, I was able to fly in and out of the lps system with the flowdeck with no problem at all. However, if the lps system is turned on after the crazyflie is started up, or the crazyflie flies away from the LPS system with the flowdeck and comes back with a bit of drift, the position estimate will jump to a different position (relative vs global position estimation) so that is something to be aware of. As long as you are flying with velocity commands this should be all okay :) I will close this issue.

BTW. I was flying with TDOA2 and TDOA3. The issue between the flowdeck and TWR is looked at in #368, but that is a different matter.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
None yet
None yet

No branches or pull requests

2 participants