Crazyflie 2.1 IMU Data #171
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Hello. Recently, I'm researching on attitude control in Harsh Condition by throwing Crazyflie. |
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Hi! The EKF is using quaternions internally and the quaternion data is available as log data in stateEstimate.qx, stateEstimate.qy, stateEstimate.qz, stateEstimate.qw It is also available as a compressed quaternion in stateEstimateZ.quat |
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Hi!
The EKF is using quaternions internally and the quaternion data is available as log data in stateEstimate.qx, stateEstimate.qy, stateEstimate.qz, stateEstimate.qw
See https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/stabilizer.c#L701-L719
It is also available as a compressed quaternion in stateEstimateZ.quat
See https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/stabilizer.c#L776-L779