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--- projects:crazyflie2:expansionboards:zranger [2017-03-14 14:47]
arnaud
+++ projects:crazyflie2:expansionboards:zranger [2017-04-21 12:19]
tobias [Standard usage]
@@ Line 17: / Line 17: @@
 Z-ranger expansion deck {{ :projects:crazyflie2:expansionboards:z-ranger_rev.b.pdf|schematic}}
-===== Usage =====
+===== Default usage =====
-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.
+The Z-ranger deck will be automatically detected when it is mounted. By default the range is available on the log variable "range.zrange" and is used instead of the pressure by internal algorithms.
-To enable altitude control using the Z-ranger, the Crazyflie firmware has to be recompiled with the following config.mk:
+The best way to use the Z-Ranger deck is to enable the [[doc:crazyflie:client:pycfclient:index#flightcontrol|Height-hold]] mode in the client. This requires at least client and firmware [[https://github.com/bitcraze/crazyflie-release/releases|2017.04]] so make sure to update your 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

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