I mentioned in a previous reply here that I had the same issue as you, along with other problems.
Even with the default firmware, my drone wouldn’t take off; it would yaw wildly and crash into things.
After analyzing the code, I found some areas where it’s worth adjusting certain parameters for throttle mapping. Additionally, it seems that the PID parameters in the firmware aren’t quite right for the kit, even though they should be… So it’s likely that you’ll need to manually modify some default values—such as the proportional components, etc.—and fine-tune them as you go.
I posted another thread where I listed all my issues I encountered and how I found possible solutions here:
https://community.st.com/t5/stm32-mcus-boards-and-hardware/steval-fcu001v2-fcu-board-and-steval-drone02-drone-kit-issues/m-p/888938#M30210
In any case, I haven’t found the right PID settings yet—ones that are suitable or better for the drone…
The drone now still isn't flying optimally, but at least it takes off now, even though it still yaws—though much less so—by reducing the P and I components of the yaw PID.
If anyone has already tried modifying PID values or other code lines with official drone kit 02 and found optimal ones can share them? that would be great.
Questions:
Do you plan to modify the program, or have you already tried doing so? Have you encountered any issues importing into the STM32 Cube IDE or modifying IOC settings with MX?
When I open the Cube IOC file, even if I click “Migrate” or “Continue,” the project gets corrupted, it modifies folders and files, and then throws compilation errors.
The STM32 Cube IDE project for the FW provided by ST seems to be a mix of FCU V1 code and also demo code for using the BlueNrg M0 Bluetooth module, and it’s really hard to tell what’s auto-generated code and what are custom modifications to adapt the code to a specific use case done by drone fw authors… It’s a good starting point but difficult to work with and modify given all the libraries, APIs, and middleware modules used...
