When we built the latest prototypes we built two different versions. One with the ST accelerometer LIS344ALH and with the ISZ-IDG650 gyros. The other one with BOSH accelerometer BMA145 and with the ISZ-IDG500 gyros. It turned out that the LIS344ALH accelerometer is very vibration sensitive and doesn’t work that well for an application as this. If we would just have spent some time on the Internet we could have found this information in before hand… luckily we made the hardware design work with both and the BMA145 is working pretty well, however now we no longer have an alternative :-(.
The ISZ650 and IDG650 works pretty well even though they are less sensitive with their ±2000deg/s output. We can’t see any direct stability issues compared to the IXX500 versions with ±500deg/s output. Maybe we will stick with the IXX650, that way we don’t limit the flip and loop speed to much. Not that the Crazyflie can do flips/rolls right now but we are very confident it will be able to in the future, judging from its agility.
We have also been working on getting the Crazyflie easier to control for beginners. With some slew rate limiting and thrust control we seem to be getting there. Now even Marcus can fly it without any problem. He used to hit the wall or ceiling all the time before :-).