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Crazyflie Bolt PID Tuning
Posted: Tue Nov 30, 2021 7:23 am
by cfnewbie
Hi,
i am tuning the position and velocity PID for my crazyflie bolt, however no matter how i adjust the PID values i cant get rid of the oscillation when the drone reach the set point and stops.
Does this has something to do with the rate PID? can anyone enlighten me please. Thanks in advance
Re: Crazyflie Bolt PID Tuning
Posted: Thu Dec 02, 2021 8:43 am
by tobias
Hard to tell what is causing it so I'm just going to ask some questions.
1. What type of positioning system are you using?
2. Are you getting fast oscillations or slow?
3. Are the propellers balanced?
Re: Crazyflie Bolt PID Tuning
Posted: Fri Dec 03, 2021 6:21 am
by cfnewbie
1. loco positioning in TWR mode
2. Slow oscillation, There is no oscillation when it travel from Point A to Point B, only oscillates when coming to a stop at Point B
3. The propellers are balanced
Does rate PID affects the drone when using loco position system?
Thanks Tobias!
Re: Crazyflie Bolt PID Tuning
Posted: Fri Dec 03, 2021 3:08 pm
by tobias
It sounds a bit like oscillations due to the position noise of the loco positioning system.
The rate PIDs are the lowers level of control so if they are badly tuned they would effect the flight overall. In your case I get the feeling they are tuned good enough though.