IMU yaw Error

[gmahapatra]

Hello!

We are working on the crazyflie quad to develop an autonomous flight control using a camera vision system. My question is, there is constant error or a drift in the IMU especially in the yaw values. I think it is due to an integral term which is adding the yaw despite the drone being completely stable/on ground. Is there a way to fix it?

Thanks in advance!

[whoenig]

If you fly outdoors, you might be able to use the magnetometer to correct for the drift. Otherwise you'll need to use an external system (such as the camera vision) to estimate the yaw as well and do corrections from time to time. How bad is your drift?