Synchronized logging between Vicon and Firmware

[darren-chiu]

Hi, I was wondering if it would be possible to obtain synchronized data between the vicon and onboard kalman filter, such that I may calculate errors? Thank you!

[whoenig]

The easiest might be to use the uSD card deck. It's also possible to stream out the data over the radio, where you get a timestamp for each data packet. The logging variables would be in the stateEstimate group and the locSrv group.

[darren-chiu]

Thank you for your response! Would there be any logging variable for the stateEstimate group before the vicon data is used to correct? My intention is to characterize the error of the onboard kalman filter.

[whoenig]

If you use the uSD card logging, there is a event onPoseUpdate that is triggered before the fusion and you can record the values of stateEstimate then. For logging via streaming there is currently no such concept, but one could add new logging variables by changing the firmware.