Indirect Method for Calibrating Quadrotor Sensors: A Case Study applied to the Crazyflie 2.X

In this work, a novel algorithm for sensors calibration in quadrotor is presented. Classical procedures are used to calibrate some variables but for the others, the angular speeds, an indirect method has been proposed. The algorithm has been applied to the quadrotor Crazyflie 2.X in a practical way. The proposed method has been described in detail and it can be applied in other kind of quadrotors in a simple way. Some experiments in a real environment have been performed to validate the solution. This work is part of a framework for quadrotor control engineering that improves the global performance of the system.