Bitcraze
Stabilizer.thrust vs motor.m1/m2/m3/m4 #39
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I apologize if this is not the correct place to bring up this concern, but I am flying the crazyflie 2.0 with optitrack & Motive for motion capture. I am trying to log estimated thrust, and I just wanted to test out using the motor.m1/m2/m3/m4 to scale to thrust for each motor as well as stabilizer.thrust which I believed scaled 0-65536 for 0-60g (for the entire CF). However, my stabilizer.thrust values seem much different than what I would expect from looking at the individual motor values. I have attached a sample of my data from a launch. Can you help me figure out what is wrong/what I might not be understanding properly?
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Replies: 4 comments
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I think this is because of the battery compensation function. The stabilizer.thust value is what is set and the motor values is what comes out after power distribution and battery compensation. |
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Thank you for your reply. So to get the most accurate thrust values, I should scale the motor values? |
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The m1/m2/m3/m4 values is the real values that are set. The stabilizer.thust value is the desired value. You can follow the power distribution function to get the details. |
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due to inactivity this is closed. |
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The m1/m2/m3/m4 values is the real values that are set. The stabilizer.thust value is the desired value. You can follow the power distribution function to get the details.