Bitcraze Forums

Hi all,
I'm trying to build a modified version of the Crazyflie, with different weights and motor powers. This means that the normal Kalman filter coefficients need to be modified for it to fly correctly. I have tried to find them to adapt them, but am having issues.
Could anyone give advice on where to find and change these parameters please? As well as any other advice that may be helpful

Thank you very much.

I don't think it's necessary to give the kalman filter any of those variables as it is setup current. The thrust is directly measured from the accelerometers, as you can see here in the code. There is this define called CF_MASS, but that is only used in the Mellinger controller and not the PID controller. Note that you shouldn't use the mellinger controller if you are flying with an adapted Crazyflie.

So it is a matter of tuning the PID controller more in your case.

Thank you very much.
I am not trying to feed it those new weight/power parameters - just iteratively tune the filter to the new hardware. Thank you I will look into the PID controller.