Changing yaw PID values

Firmware/software/electronics/mechanics
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alex236
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Joined: Tue Mar 13, 2018 8:19 pm

Changing yaw PID values

Post by alex236 » Tue Jul 10, 2018 5:06 pm

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.

whoenig
Expert
Posts: 247
Joined: Mon Oct 27, 2014 2:55 am

Re: Changing yaw PID values

Post by whoenig » Tue Jul 10, 2018 7:55 pm

You can change the parameters in the pid_attitude group: https://github.com/bitcraze/crazyflie-f ... #L196-L198.

alex236
Beginner
Posts: 2
Joined: Tue Mar 13, 2018 8:19 pm

Re: Changing yaw PID values

Post by alex236 » Wed Jul 11, 2018 4:00 pm

how would you go about changing those values you pointed out?

whoenig
Expert
Posts: 247
Joined: Mon Oct 27, 2014 2:55 am

Re: Changing yaw PID values

Post by whoenig » Wed Jul 11, 2018 7:07 pm

In the client using the parameters tab (https://wiki.bitcraze.io/doc:crazyflie: ... parameters), or in python using the API.

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