Search found 31 matches

by Yaro
Fri Jul 15, 2016 4:08 pm
Forum: Developer Discussions
Topic: Tuning crazyflie for smooth, stable and responsive flight
Replies: 52
Views: 17062

Re: Tuning crazyflie for smooth, stable and responsive flight

I've recently tried new Experimental PID and it' very very smooth in movements that my previous settings(little vibrations on movements). I've just lowered values in proportion to have less agressive response when flying indoor(of course I think it's the same to lowering controller sensibility). The...
by Yaro
Thu Jun 30, 2016 10:13 am
Forum: Developer Discussions
Topic: Doubts about Sensor values convertion and filtering
Replies: 2
Views: 1395

Re: Doubts about Sensor values convertion and filtering

Thank you for your answers! If I don't recall wrongly only the gyro should be filtered inside the MPU9250. The accelerometer is filtered outside because at one point we had different accelerometer chip and for convenience we then filtered it outside to easier switch between chips. As the acceleromet...
by Yaro
Wed Jun 29, 2016 3:10 pm
Forum: Developer Discussions
Topic: Doubts about Sensor values convertion and filtering
Replies: 2
Views: 1395

Doubts about Sensor values convertion and filtering

Hi all, I'm tring to understand how CF firmware get values from sensor and elaborate them. I've some newbie question that I can't solve. - In convertion between Mag values to Gauss it's used 666.7 gauss*LSB. But since precision is +/- 4800uT, from where this value come from? I've tried to convert uT...
by Yaro
Mon Jun 27, 2016 10:49 pm
Forum: Developer Discussions
Topic: Why Mag. is not implemented?
Replies: 1
Views: 847

Why Mag. is not implemented?

I know that Madgwick provide two type of sensfusion algorithms, one for IMU 6-DOF and a version with Magnetometer. I've checked CF code and didn't find any implementation of magnetometer, just as log. There is particular reason for this like motors interferences, heavy computationally code or else? ...
by Yaro
Wed Jun 01, 2016 6:30 pm
Forum: Developer Discussions
Topic: AltHold values of ASL
Replies: 0
Views: 2144

AltHold values of ASL

Hi all, After getting my drone fly with manually controlled thrust I want to implement AltHold. I've checked values I get from ASL and here I report values (5 values per second, aslRaw, asl, and aslLong): http://s33.postimg.org/fgw997mr3/ASL.png As you can see I've a lot of variation of about 1m bet...
by Yaro
Mon May 30, 2016 5:10 pm
Forum: Developer Discussions
Topic: Hover mode using sensor fusion
Replies: 7
Views: 2887

Re: Hover mode using sensor fusion

Very nice! I want to ask(a newbie question) about the difference between this method using Kalman filter and method used in current CF AltHold. This method with Kalman filter should fusion Baro and Acc values to estimate vertical velocity and perform a filtering. While CF doesn't do this? What metho...
by Yaro
Mon May 30, 2016 10:17 am
Forum: Developer Discussions
Topic: How should be eulerActual graphs in correctly working CF firmware
Replies: 2
Views: 1092

Re: How should be eulerActual graphs in correctly working CF firmware

Thank you for your answer. Recently I've performed fly tests on each of this configuration and found problems in all except two. Some of them had a high increasing drift on roll "left side" and some had very large oscillations that prevented to fly. I've found that with Acc.Bias disabled, graph 3. i...
by Yaro
Sat May 21, 2016 2:00 pm
Forum: Developer Discussions
Topic: How should be eulerActual graphs in correctly working CF firmware
Replies: 2
Views: 1092

How should be eulerActual graphs in correctly working CF firmware

Hi all, I've some dubpt on how should be eulerActual output on CF firmware when Attitude(Angle) is enable on Roll and Pitch. I've performed some test with different combination on IMU ouput values sings. Changes in signs of IMU output values was made inside void imu6Read function in imu.c : void imu...
by Yaro
Wed May 04, 2016 1:28 pm
Forum: Developer Discussions
Topic: Advice about PID tuning
Replies: 1
Views: 1132

Advice about PID tuning

Hi all, I'm going to calibrate PID but I'm not sure about how to do this. I need to fix drone in position and start to perform test with increasing values. I've found a guide in this forum that tells to set all PID(kp,ki,kd) to 0 and then start with a single R or P or Y to calibrate. About fixing dr...
by Yaro
Thu Mar 31, 2016 10:31 am
Forum: Developer Discussions
Topic: MPU non plane soldered
Replies: 1
Views: 877

MPU non plane soldered

Hi all, I'm back with a new problem. Recently after doing some test I've found that MPU stop to answer to my I2C packets. After an inspection I've found a bad soldered joints and I've resoldered them. After this drone works again but I've a small deviation on Roll and Pitch, probably becouse I've pl...