Finding motor Biases
Posted: Thu Jan 31, 2019 3:33 am
Hey CrazyFlie lovers,
I have been tinkering around with crazyflie for my project. I am actually trying to find the motor biases for hover position or in simple words I am trying to finds the motor values (10000-60000) at which the pitch and roll angles would be zero without any control.
I used PID with 99% thrust to find these values, which came out to be
m1- 65535.0
m2 -65535.0
m3- 48495.0
m4- 41463.0
but somehow when I turn the controller off and use these values the system doesn't go to zero.
Am I missing something here? or is there something in the firmware that's stopping it.?
I hope I was clear in my question. Some help would be really appreciated.
I have attached a picture of my setup here.
As you can see the crazyflie can only move in 2DOF here (pitch and roll).
I have been tinkering around with crazyflie for my project. I am actually trying to find the motor biases for hover position or in simple words I am trying to finds the motor values (10000-60000) at which the pitch and roll angles would be zero without any control.
I used PID with 99% thrust to find these values, which came out to be
m1- 65535.0
m2 -65535.0
m3- 48495.0
m4- 41463.0
but somehow when I turn the controller off and use these values the system doesn't go to zero.
Am I missing something here? or is there something in the firmware that's stopping it.?
I hope I was clear in my question. Some help would be really appreciated.
I have attached a picture of my setup here.
As you can see the crazyflie can only move in 2DOF here (pitch and roll).