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projects:crazyflie2:expansionboards:zranger [2017-03-14 13:43] tobias created |
projects:crazyflie2:expansionboards:zranger [2021-06-24 16:13] kimberly |
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+ | <WRAP center round important 60%> | ||
+ | This page has deprecated and moved to the new documentation framework of the main Bitcraze website. Please go to [[https:// | ||
+ | </ | ||
+ | |||
+ | |||
====== Z-ranger expansion deck ====== | ====== Z-ranger expansion deck ====== | ||
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===== Specification ===== | ===== Specification ===== | ||
- | * VL53L0x ToF sensor to measure distance up to 2 meters. | + | * [[http:// |
* 1-wire memory for automatic expansion deck detection | * 1-wire memory for automatic expansion deck detection | ||
* Designed for mounting under the Crazyflie 2.0 | * Designed for mounting under the Crazyflie 2.0 | ||
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Z-ranger expansion deck {{ : | Z-ranger expansion deck {{ : | ||
- | ===== Usage ===== | + | ===== Default usage ===== |
+ | |||
+ | To get started you can follow the [[https:// | ||
+ | |||
+ | The Z-ranger deck will be automatically detected when it is mounted. By default the range is available on the log variable " | ||
+ | |||
+ | The best way to use the Z-Ranger deck is to enable the [[doc: | ||
+ | |||
+ | |||
+ | ===== 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 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!** |