IMU Calibration

[harshtradastembotix-ui]

I WILL Try to calibrate imu with multiple method but imu will not calibrate it try methodes 1.) cfclient parapeter change 2.) manual calibration 3.) betaflight

[ArisMorgens]

Hello @harshtradastembotix-ui!

The easiest way to calibrate the imu of the Crazyflie, is through the Parameter tab in the cfclient. Under the imu_sensors group, you can find imuPhi, imuTheta and imuPsi that describe the rotation around the x,y and z axes respectively. Once you've modified their values, you can select to store them as persistent parameters, so that the Crazyflie remembers them after every reboot.

Let us know if you managed to figure it out.

[harshtradastembotix-ui]

🐛 Issue: IMU Pitch Drift and Instability
📌 Description

I am using the MPU6050 in my drone project.
The pitch value is not stable even when the drone is completely stationary.

🔍 Observed Behavior
Initially pitch is 0°
Then it slowly drifts to ±0.1, ±0.2
Within 1–2 seconds, it returns back to 0°
This cycle keeps repeating continuously
🎯 Expected Behavior
Pitch value should remain stable (close to 0°) when the drone is not moving
Minimal fluctuation (acceptable small noise only)
⚙️ Setup Details
Sensor: MPU6050
Application: Drone flight control
Board: (mention your board, e.g., ESP32 / Arduino Uno)
Power Supply: (battery details if relevant)
🧪 Steps to Reproduce
Power ON the system
Keep the drone completely still
Observe pitch values over serial monitor
Notice drift and auto-correction behavior
📊 Additional Observations
Drift occurs even when there is no intentional movement
Possible vibration from motors may affect readings
Issue persists even after basic calibration
❓ Questions / Help Needed
Is this behavior normal for MPU6050?
How can I reduce pitch drift and improve stability?
Should I use filtering (Complementary/Kalman)?
Any recommended calibration or vibration isolation techniques?
📎 Attachments (if available)
Serial output logs
Code snippet
Hardware setup image/video

[stefanthorstenson]

Hi @harshtradastembotix-ui !

Can you let us know a little bit more about your usecase and what you intend to achieve? And how it is related to the drone behaviour that you are seeing?

Best regards,
Stefan