I have 2 Crazyflie 2.0 units. One of them flies beautifully (trim values at 0 even). The other seems pretty borked.
The attitude indicator appears level in the Python client when sitting on the ground. On taking off, the trim goes way off to the right slowly over the course of a few seconds until it seems to level off. I can fly it just barely with a ton of left roll. If you look at the attitude indicator in the Python client while I'm manually holding it level, it thinks the copter is rolled to the right what seems to be the amount I'm compensating. The copter has some high-frequency oscillations, but the high-frequency component isn't too much to be unmanageable on its own. The right roll bias floats a little bit in magnitude over a period of a few seconds while flying. On landing, the attitude indicator is usually slightly off to the right, but closer to level than in flight. Over the course of about 5 seconds it drifts a little closer to level.
I flashed the test firmware in viewtopic.php?t=1233#p6762 to see if it yielded any IMU problems. I can't tell if this means it's checking out OK or not since the other samples had many more status lines. Mine doesn't spit out anything more than this after around 20 minutes of letting it sit jus tot be sure.
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SYS: Crazyflie is up and running!
SYS: Build 6+:29624e7f6e3b (2014.12.0) MODIFIED
SYS: I am 0x37303638343551173D0049 and I have 1024KB of flash!
IMU: MPU9250 I2C connection [OK].
IMU: AK8963 I2C connection [OK].
IMU: LPS25H I2C connection [OK].
30 78 42 43 0 50 0 0 0 0 0 0 0 0 0 7D
Status 0