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projects:crazyflie2:expansionboards:zranger [2017-03-14 14:13]
tobias [Usage]
projects:crazyflie2:expansionboards:zranger [2017-04-21 12:24] (current)
arnaud [Default usage]
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 Z-ranger expansion deck {{ :​projects:​crazyflie2:​expansionboards:​z-ranger_rev.b.pdf|schematic}} 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. 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.+
  
-Limitations: The sensor can measure distances up to 2 meters but often fails at distances above 1.5m. case of failed ​readings the Crazyflie 2.0 will slowly ​descend until reaching a height where measurements are reliable.+To get started you can follow the [[https://​www.bitcraze.io/​getting-started-with-z-ranger-deck/​|Z-Ranger getting started guide]]. 
 + 
 +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. 
 + 
 +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 
 +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.1489497193.txt.gz · Last modified: 2017-03-14 14:13 by tobias