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projects:crazyflie2:expansionboards:zranger [2017-03-14 14:13]
tobias [Usage] 		projects:crazyflie2:expansionboards:zranger [2017-03-14 14:47]
arnaud
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 ===== Usage ===== ===== Usage =====
-The Z-ranger deck will be automatically detected when it is mounted. To activate precise height control press the AltHold button on the gamepad and release the thrust. This will "lock" the height as the Crazyflie 2.0 goes into automatic height control. The up and down commands will then controls the desired height instead of thrust.+The Z-ranger deck will be automatically detected when it is mounted. By default the range is available on the log variable "range.range" but is not used by the firmware internal algorithm.
  
-Limitations: The sensor can measure distances up to 2 meters but often fails at distances above 1.5m. I case of failed readings the Crazyflie 2.0 will slowly descend until reaching a height where measurements are reliable.+To enable altitude control using the Z-ranger, the Crazyflie firmware has to be recompiled with the following config.mk: 
 +<file make config.mk> 
 +ESTIMATOR=kalman 
 +CFLAGS += -DUPDATE_KALMAN_WITH_RANGING -DKALMAN_DECOUPLE_XY 
 +</file> 
 + 
 +Once the recompiled firmware, precise height control using the altitude-hold mode. To activate precise height control press the [[https://wiki.bitcraze.io/doc:crazyflie:client:pycfclient:index#creating_new_mappings|altitude hold]] button on the gamepad and release the thrust. This will "lock" the height as the Crazyflie 2.0 goes into automatic height control mode. The up and down commands will then control the desired vertical speed instead of thrust. 
 + 
 +The sensor can measure distances up to 2 meters but often fails at distances above 1.5m. In case of unreliable readings the Crazyflie 2.0 will slowly drift. If that happens bring it down to the detection range.
  
 **Note: Currently the mobile clients does not support this functionality!** **Note: Currently the mobile clients does not support this functionality!**
projects/crazyflie2/expansionboards/zranger.txt · Last modified: 2021-06-24 16:13 by kimberly

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