Drifting and station keeping issues...

[atomoclast]

Hello all! I just started to really tinker with these cool little quadrotors! I came across this package and and downloaded it and got it building on my computer. I am also using the prebuilt ardrone_autonomy package from apt-get.

I am currently trying to just do very basic things, such as have the drone take off, then go to waypoints then land again, my issues are as follows:

1. Drifting. When I try to take off, it flies straight up, then it starts to drift (usually to the right) until I catch it and land it via ROS or it hits something and spirals to the ground. I've tried to use the flattrim function before taking off and it helps a bit. I have had some luck using the keyboard controls to take off, then use the keys to get it to stabilize.

2. Accuracy in reaching positions. If/when I do get it semistable to reach a steadystate location in space, I try and script for it to go up n distance, go down n distance then land, just to test it out. I've had issues that when it tries to go to a set point, it bugs out and then flies straight up until it hits my ceiling...

I should note that I have used the phone app from Parrot as well as another app named AR.Pro. I haven't experienced much drifting issues with them, which lead me to believe it's a PID issue somewhere...
Has anyone had similar issues? How did they fix it? I'm open to try other things.

My questions are, do I need to roll back my firmware? I'm on 2.4.8 right now (that's what it came shipped with). Do I need to tune the PID values better? Is there a "suggested/tested" set of values? Do I need to update it on ardrone_autonomy's side, or tum_ardrone's side?

Looking forward to all the help I can get! 👍

[vinaybysani]

hey, i have exact same issue.
please share your fixes if found so.
Thanks