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projects:crazyflie2:expansionboards:zranger [2017-03-14 14:13] tobias [Usage] |
projects:crazyflie2:expansionboards:zranger [2017-04-11 17:07] bjorn |
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===== Usage ===== | ===== Usage ===== | ||
- | The Z-ranger deck will be automatically detected when it is mounted. | + | The Z-ranger deck will be automatically detected when it is mounted. |
- | Limitations: The sensor can measure distances up to 2 meters but often fails at distances above 1.5m. I case of failed | + | The best way to use the Z-Ranger deck is to enable the [[doc:crazyflie: |
+ | |||
+ | |||
+ | ===== Usage with the experimental Kalman filter ===== | ||
+ | |||
+ | The Kalman filter is a sensor fusion algorithm that is still experimental. You can try it by recompiling the Crazyflie firmware. | ||
+ | |||
+ | To enable altitude control using the Z-ranger with the kalman filter, 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 | ||
+ | </ | ||
+ | |||
+ | Once the recompiled firmware, precise height control using the altitude-hold mode. To activate precise height control press the [[https:// | ||
+ | |||
+ | The sensor can measure distances up to 2 meters but often fails at distances above 1.5m. In case of unreliable | ||
**Note: Currently the mobile clients does not support this functionality!** | **Note: Currently the mobile clients does not support this functionality!** |