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projects:crazyflie2:expansionboards:zranger [2017-03-14 14:47]
arnaud
projects:crazyflie2:expansionboards:zranger [2017-04-21 12:24] (current)
arnaud [Default usage]
Line 17: Line 17:
 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. By default the range is available on the log variable "​range.range"​ but is not used by the firmware internal algorithm.+
  
-To enable altitude control using the Z-ranger, the Crazyflie firmware has to be recompiled with the following config.mk:+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>​ <file make config.mk>​
 ESTIMATOR=kalman ESTIMATOR=kalman
projects/crazyflie2/expansionboards/zranger.1489499235.txt.gz · Last modified: 2017-03-14 14:47 by arnaud