Page 1 of 1

Changing yaw PID values

Posted: Tue Jul 10, 2018 5:06 pm
by alex236
I was wondering if it would be possible to change Yaw PID values without hard coding it into the firmware and having to flash the new firmware onto the Crazyflie.

These are the values I am referring to:
They are located in the pid.h file in the firmware.

#define PID_YAW_KP 6.0
#define PID_YAW_KI 1.0
#define PID_YAW_KD 0.35

Are there any other possible ways of changing them through python or the client? Please let me know. Thanks.

Re: Changing yaw PID values

Posted: Tue Jul 10, 2018 7:55 pm
by whoenig
You can change the parameters in the pid_attitude group: https://github.com/bitcraze/crazyflie-f ... #L196-L198.

Re: Changing yaw PID values

Posted: Wed Jul 11, 2018 4:00 pm
by alex236
how would you go about changing those values you pointed out?

Re: Changing yaw PID values

Posted: Wed Jul 11, 2018 7:07 pm
by whoenig
In the client using the parameters tab (https://wiki.bitcraze.io/doc:crazyflie: ... parameters), or in python using the API.