Yaw angle behavior

Discussions about quadcopters/multi-rotors
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Joined: Fri Aug 03, 2018 2:11 pm

Yaw angle behavior

Post by rafael.mjas » Fri Aug 03, 2018 2:34 pm


Recently, we've bought the Crazyflie 2.0 quadcopter and we have a few questions about the yaw angle controller.

Since the Yaw PID controller is originally disabled on the firmware, because of the fact the its measurement comes only from the gyro, what makes it less accuracy, the question is: How does the quadrotor is able to return to its original yaw angle when, in hover, it's submitted to an impulse momentun (on the yaw direction)? How the controller performed this behaviour since it comes originally disabled?

Thank you.

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