Bitcraze Forums

Hi all,

I have made a larger drone using the Crazyflie bolt. I used flow deck v2 as the optical flow sensor.

My question is:

[1] I know there was a pid.h file in the firmware. But how can I choose the best one for stabilizing the drone? I have tried some settings but it looked not quite well. The drone will jitter a lot.

[2] The optical flow sensor was not good when I fly over 1.5m. How can I solve this issue?

Cheers!

Hopefully we will improve the setup and tuning for the Bolt during Q4 to make it easier.

1. Generally a Bolt built drone has higher thrust/weight ratio so the PID needs to be tuned down. Try starting with setting the roll&pitch rate_PID KP and KI to half. Then increase them bit by bit until it starts to wobble a bit. Then go back a bit. Keeping KI roughly double KP should be a good ratio.

2. Discussion ongoing in this thread. Please try that and feedback in that thread.