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Mambo sensors_dict DronePosition_posx

See original GitHub issue

Hello,

the Minidrone.MinidroneSensors class gives us velocities but I’ve also noticed DronePosition_posx, _posy and _posz in the sensors_dict. How are these estimates done? Is it just dvdt or is there some more sensor fusion happening with the accelerometer etc behind the scenes? I ask because I’d like to develop a precise position controller, so position estimates are important.

Issue Analytics

State:
Created 5 years ago
Comments:8 (5 by maintainers)

Top GitHub Comments

1reaction

amymcgoverncommented, Dec 4, 2018

I was just about to suggest that was the issue. It is called anytime any sensor is updated. And I think some are coming in more frequently. I don’t have any heartbeats inside that code.

1reaction

amymcgoverncommented, Dec 4, 2018

I did some testing tonight and it seems that the data is somewhat time lagged. I did a quick program where I took off, flew forward, and watched the posx variable. it seems like it is correct but very time lagged. I will post about it on the dev forum for parrot and see what they say the lag is.