Initial calibration

[haaivda]

Hi there,

I am just starting off with my crazyflie. I am trying to fly it for the first time, using the virtualbox image (0.5) and the client software. But when I connect the crazyflie to the client, the calibration is incorrect (as can be seen in the figure, mainly the roll is off by much, when the crazyflie lies flat on a table)

The controls do work (I use a logitech joystick).

Does someone have an idea how to solve this?

Thanks in advance!

Best, Gerald

[Triplevvv]

Hi

I also use a Logitech Extreme 3D, not sure if we are talking about the same input device or if the following comment is helpful to you.

On the Client Desktop UI, first go to "input device" --> "configure input device mapping" to configure the joystick before using it. Also, you mention VM, but I do the above from the client desktop UI itself without going to the VM.

Not sure if this helps in any way.

[haaivda]

Thanks for the reply. I think I have the same joystick. I did the manual calibration (starting with the xbox360 settings).

The problem is that the IMU gives an incorrect measurement when the CF lies flat on the table. I hope there is some way to calibrate the sensor.

[arnaud]

Hi,

That looks very off. If you launch the bootloader there is a way to enter calibration for pitch and roll: http://wiki.bitcraze.se/projects:crazyf ... ie_service
You can try entering and programming + or - 45 for the roll.

Best regards,
/Arnaud

[haaivda]

Hi Arnaud,

Thanks for the advise.

Unfortunately it does not solve my problem yet, since I am only allowed to fill in a maximum of 10 degrees.
It did however do what I would expect (i.e. the roll offset was only 35 deg instead of 45 deg).

Do you have a way to circumvent this?

Thanks!!

[arnaud]

Hi,

To be able to fly the Crazyflie you can change the trim settings on the flight control tab, this one is not limited. It will not correct pitch and roll but it will correct the setpoint sent to the copter.

I will look at it to see where this 10degree limit is.

Did the Crazyflie comes out of the box with so much offset and does it seems to behave correctly when turned around (except for the angle offset of course)?

/Arnaud

[haaivda]

Hi,

I saw the trim settings in the flight tab, but those have a limit of 20 deg. If the 10 and 20 degrees are both entered, the CF is sort of flyable (i.e. when adding an extra 16 degrees of roll with the joystick). Tilting the CF also gives a correct output.

And yes, it came like this in the box.

[arnaud]

Hi,

The limitation of trim settings in config block appears to be in the PC software. Assuming you are running the VM you can change it by modifying the bootloader UI file:
- Open the folder project/crazyflie-clients-python/lib/cfclient/ui/dialogs/ and double-click on bootloader.ui
- It should open Qt Designer.
* Click on Roll or Pitch trim
* in the property editor find "minimum" and "maximum" at the bottom of the list and change them to a high enough number.
* Save and restart the Crazyflie client to see the change applied.

It is not exactly super easy, but it should work. I attach a screen shoot of what it should look like.

/Arnaud

[haaivda]

Ah ok, I will take a look at that! Thanks for the fast reply.

[haaivda]

Hi,

This was indeed the solution!!! Thanks for the effort!!!

Best, Gerald