Setup for tuning:
Kp, kd and ki were tested with different values to make crazyflie stable. Ki was always set to be zero. Kp and kd were increased until reach the point of instability, and then they were tuned down 5 - 10 points.
It turns out that 30 to 40 are the suitable values for kp (both for pitch and roll) in the test:
Ki was modified to be 100 (both for pitch and roll), and violent vibrations happened:
A problem happens during the test. Crazyflie could not be changed into X-mode. This reason probably contributes to the difference between experimental coefficient values and theoretical values.
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