How to implement sending external pose info into estimators?

[HaoChen1016]

Hi,

Thanks for sharing your code and glad to see this project works. I have looked through your code and haven't found which part is about sending external pose(from optitrack) to the EKF estimator. Could you give some hints?Thanks

[AliGriv]

Sorry for the late reply. I just added a file named Main_Kalman.py. I hope it helps.

[HaoChen1016]

Thank you for your reply and it's really helpful. When I use Optitrack Natnet SDK python sample to receive the pose information, if I set the frequency of data-streaming in Motive to 30Hz, the crazyflie2.1 fly well. However, if I change the frequency of data-streaming in Motive to 100Hz, the crazyflie 2.1 will become unstable. Have you faced the same issue?

[AliGriv]

You are welcome. I have been using with the default frequency and have never changed it, and it works pretty well. I think the rate is 120 Hz, and it has never become unstable like what is happening in your case.

[HaoChen1016]

Thanks for reply. Could I know what kind of version of Motive do you use? Also, do you use a virtual machine to run the code?

[AliGriv]

Motive version: 1.9.0
No virtual machine is used.