Basic Stabilization

[DaGuRu]

Hey,
I'm trying to get just a basic python script written to take off, hover for a second, fly forward about a foot and then hover for another second before landing. I was just wondering if i could get some tips for using the logging and parameters to help stabilize the drone flight. Do I need to use ZMQ to utilize these features to help stabilize flight ? Is it possible to achieve a simple flight script like this without the use of an external sensor (like a Kinect) and how exactly do the logging and parameter values translate to something i can use to modify the thrust pitch roll and yaw of the quadcopter.

Also if I do need to use a Kinect to make this happen could you direct me to the repo? I went to check out the Kinect branch from the python client repo here https://github.com/bitcraze/crazyflie-c ... p/examples and it cant seem to find it

*edit1* found the github link for the original kinect https://github.com/bitcraze/crazyflie-c ... dev-kinect

Any help would be appreciated!!!

*edit* after doing a bit more research I see that I need to tune the PID values to help with stable flight ( I am going to re-balance the props as well ) how exactly should I approach tuning the PID ? should I be writing my own script to calculate the PID If i am trying to fly it through a python script without running it through the client or ZMQ ? and do the PID values from the client stabilize normal flight or are they only used to stablize the ALT HOLD?

[Analogy]

There are three PID controllers acting at once, there's the altitude hold controller which controls thrust, there's the rate controller which stabilizes the angular roll/pitch/yaw rates, and there's the level stabilization controller which is layered on top of the rate controller and targets a certain attitude.

What will help you the most is increasing the gains on the rate controller, *especially* the integral gains. Some folks have written software to tune PID gains but it's simple enough to do by hand and that's what I did with mine.

[DaGuRu]

Will tuning the PID of the client help me if I am trying to control the flight through a python script ? do I need to be calling anything in particular during my python script to be taking advantage of the clients stabilizer.c ?