Bolt Tuning
Posted: Tue Mar 16, 2021 7:06 pm
I am a total beginner when it comes to drones and Crazyflie but I have been trying to tune my Crazyflie bolt with a brushless build and it is turning out to be a difficult task. I know how to adjust parameters on the firmware and upload the firmware properly and I have been testing the parameters with cfclient. I have a few questions that I believe will help me get on track.
1) I have been focusing on changing the values in "pid.h", is there anything else I need to change?
a) I have seen people talk about changing the weight and thrust parameters but where do I go to do that? I know there exists a "Thrust_base" viewtopic.php?f=2&t=4210&hilit=tuning but what about a weight parameters?
b) What about ESC tuning? Specifically in this post viewtopic.php?f=3&t=4545&p=20856&hilit=bolt#p20856 They talk about "motorPowerSet"
c) Finally, do I need to adjust the Kalman filter settings? I have seen one post that does something to the kalman filter https://github.com/bitcraze/crazyflie-f ... man.c#L183
2) Question 1.a leads me to the question of what is the difference between "pid.h" and "position_controller_pid.c". Do I need to change the PID values in both and why are there PID values in two places?
I appreciate any advice anyone can give me
1) I have been focusing on changing the values in "pid.h", is there anything else I need to change?
a) I have seen people talk about changing the weight and thrust parameters but where do I go to do that? I know there exists a "Thrust_base" viewtopic.php?f=2&t=4210&hilit=tuning but what about a weight parameters?
b) What about ESC tuning? Specifically in this post viewtopic.php?f=3&t=4545&p=20856&hilit=bolt#p20856 They talk about "motorPowerSet"
c) Finally, do I need to adjust the Kalman filter settings? I have seen one post that does something to the kalman filter https://github.com/bitcraze/crazyflie-f ... man.c#L183
2) Question 1.a leads me to the question of what is the difference between "pid.h" and "position_controller_pid.c". Do I need to change the PID values in both and why are there PID values in two places?
I appreciate any advice anyone can give me