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bitcraze / crazyflie-firmware

The main firmware for the Crazyflie Nano Quadcopter, Crazyflie Bolt Quadcopter and Roadrunner Positioning Tag.
GNU General Public License v3.0
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Modify the kalman filter for the Roadrunner #542

Closed krichardsson closed 3 years ago

krichardsson commented 4 years ago

The kalman filter in the Roadrunner is currently the same as in the Crazyflie, and it is designed for a quad rotor. This is non optimal if the Roadrunner is used on a ground robot for instance.

This purpose of this issue is to find a better solution for the Roadrunner.

jonasdn commented 3 years ago

Is this still something worthwhile to look into?

knmcguire commented 3 years ago

Not for the roadrunner, but perhaps anything to use a bolt+ deck, or crazyflie + deck as an add on their ground robot. The problem is is that the kalmanfilter is kind of designed to the liking of a quadcopter model. Another thing that is worth mentioning, is that the roadrunner always was in the mode of quadisflying == false (see this piece of code here), which might have influenced the estimation.

Maybe an OOT estimator with a model-less/point based kalman filter can do the trick?