How do I make my drones take off and fly more smoothly?

[SamuelSutphin]

I am using crazyflies 2.1+ drones with a Lighthouse set up with 2 V2 stations. I have flown the drones, but they start to sway unevenly. I used the code in the step by step swarm guide and they were only able to fly half of the square sequence until they crashed. I tested the drones by using the takeoff command in cfclient, but they start to sway and topple over after a couple of seconds. I've tried everything I can think of to fix this but I cannot get the drones to be steady. I've replaced propellers to see if it will help with the variance and it only made it higher.

[enyanil]

Hi!

There are a lot of factors that might be affecting the lighthouse system. So, lets see if we can narrow it down.
A first step is to look at the set up in the lighthouse tab in the client:

Does the blue dot (representing the Crazyflie) show up and move around reasonably if you move the Crazyflie around? Are all of your base stations detected? Do the position coordinates (under Crazyflie status) look reasonable or do they jump around to unrealistic numbers? If you haven't already, I would try to complete the set-up of the lighthouse system again to rule out any basic problems. The issues can also come from moving the base stations after having set-up the system in the client, since the set-up has to be redone every time the base stations are moved.

Other things that might affect the lighthouse system are reflective surfaces in your space or if you accidentally cover the lighthouse deck in some way, for example if you have long pins attached that cover certain angles to the deck.

Let me know if this helped or if you have any more details about your system that can help me narrow down your problem. For example, do you have any other decks attached to the Crazyflie?

[SamuelSutphin]

Thank you, I realized that the velocity controller gains were too low for my crazyflies. After some tuning I was able to get them stabilized.

[enyanil]

Great solve!