Bitcraze Forums

Hi,

My copter's one arm is sort of broken, once fixed its added more weight. so its not stable, so i started reading upon stabilizing the copter.

Read upon PID controller, and i am able to log accelerometer, gyroscope values using that i think it should be possible. But was wondering is there any auto stabilization program within crazyflie-client or firmware. somehow i can invoke?

or do i need to do it manually! controlling the Motors speed based on PID computation? Also please guide me through the computation of PID. How to do it? (Most articles explains it in its own way).

looking at stabilizer.c, commander.c, pid.c still couldn't figure out what it does

If you've broken an arm and repaired with something that adds significant weight, you've essentially destabilized your copter. Trying to make up for it in the stabilization code is probably not the best method to address that... You could try to simply set trim values to compensate for the uneven weight distribution.

Agreed trying to stabilize in code will be a challenge. However, there's this...

https://www.youtube.com/watch?v=bsHryqnvyYA&hd=1

And if that wasn't enough...

https://www.youtube.com/watch?v=t369aSI ... e=youtu.be

theseankelly wrote:Agreed trying to stabilize in code will be a challenge. However, there's this...

https://www.youtube.com/watch?v=bsHryqnvyYA&hd=1

And if that wasn't enough...

https://www.youtube.com/watch?v=t369aSI ... e=youtu.be

Well! Now that is impressive. I guess it certainly is possible to correct for a broken quad in the software. Please, @Dinesh Kumar don't let me dissuade you from trying for that!!

I have a feeling the CF2 can't really achieve that video without bigger props and more power, though.

Still, you ought to be able to compensate for a slightly unbalanced copter in software. In fact, based on a cursory look through the stabilizer code, I'm a little surprised it doesn't already compensate for it, at least moderately.

How badly is it broken? Photos?