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Could you tell us a bit more about your setup? Are you using Crazyswarm or the pyhon lib? |
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Hi! this seems to be an issue of Crazyswarm that we don't maintain ourselves. You would be better off putting this question on Crazyswarm's discussion board if you haven't already: https://github.com/USC-ACTLab/crazyswarm/discussions Let us know if they are able to help you with this. |
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I am using a crazyflie 2.1 with Vicon Tracker for external positioning. The position from the cf1 object is consistent in ROS and remains steady with a standard deviation of the x, y, z position of about 3e-4 over time. however, the CF1/pose topic shows a significant drift in the position estimate of the crazyflie. It appears that the drift is occurring in the location server or kalman filter, but I have been unable to determine why this is happening. When I attach a flow deck the drift is decreased, but does not go away. The crazyflie reports to have passed its sensor checks on the consol. What can I do to preserve the values reported from the external position for the pose estimate?
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