PD Controller not working with low mass Crazyflie

[Peyje]

The Crazyflie only weights 28g, which makes the PD controller stutter and not work properly.

Proposed course of action:

• Understand logic of default PD controller
• Reconfigure controller to work with low masses

[Peyje]

This is the used PD Controller:
https://www.openrobots.org/morse/doc/stable/user/actuators/rotorcraft_waypoint.html

[Peyje]

P and D gains are to be set for:

• Horizontal
• Vertical
• Yaw
• Roll/Pitch

[Peyje]

A system identification and control adaptation has to be done to work with the low mass, which is out of bounds for my current time schedule. For now, the MAV will just weigh 1kg.