Consistent attitude offset in CF2.0

Firmware/software/electronics/mechanics
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droneguy
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Posts: 16
Joined: Wed Mar 28, 2018 7:22 pm

Consistent attitude offset in CF2.0

Post by droneguy » Wed Apr 25, 2018 10:19 pm

Hey guys,
I tried installing the bootloader and new firmware on one of the Crazyflie 2.0s and now i see a persistent bias in the attitude.
The artificial horizon seems to reflect the manual tilting of the robot, but when kept on a level surface, the horizon shows the attitude bias again.
Note that this does not converge to zero when left as is. The bias is pretty stable which in my case is a 8 degree roll. (see image)
CF2_bias.JPG
I have also tried resetting the eeprom using "python3 write-eeprom.py"

Also, here's the console output:
CF2_console.JPG
CF2_console.JPG (45.19 KiB) Viewed 217 times
Any pointers?

tobias
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Location: Sweden

Re: Consistent attitude offset in CF2.0

Post by tobias » Thu Apr 26, 2018 8:44 am

I interpret it as the roll bias was not there before you updated the firmware? If you open the configuration dialog do you have zero for the trim values?

droneguy
Beginner
Posts: 16
Joined: Wed Mar 28, 2018 7:22 pm

Re: Consistent attitude offset in CF2.0

Post by droneguy » Thu Apr 26, 2018 4:48 pm

Yes, and as I mentioned in my original post, I rewrote the default eeprom settings using the write-eeprom.py script.

In any case, here's the config window:
CF2_Config.JPG

tobias
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Joined: Mon Jan 28, 2013 7:17 pm
Location: Sweden

Re: Consistent attitude offset in CF2.0

Post by tobias » Mon Apr 30, 2018 12:15 pm

To me it then sounds like a software problem. Could you go back to the old FW and test? What new FW did you flash?

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