How to adjust the initial thrust value of cf?

[swarm5]

@whoenig @jpreiss
I changed the motor with a KV value of 18000, which means the motor has a stronger thrust. When I did the flight test, the flight was relatively stable. But there is a problem: the initial thrust value of cf is too high, so that cf will rush out a certain distance during the take-off stage, then hover, and finally take off smoothly.
I want to know, which parameter is used to set the initial thrust value of cf in crazyswarm?

[whoenig]

If you are using the mellinger controller, the parameter you are looking for is massThrust (which needs to be lowered for higher KV).

[swarm5]

Thank you for your answer! However, if I use a PID controller, how should I adjust the initial thrust value? Because I need to use low-level instructions such as cmdpostion.

[whoenig]

I am not sure about the PID controller. You might find help in the official support forum.

[swarm5]

I don’t know much about the Mellinger controller, I would like to ask:
The control parameters under the path of crazyswarm/ros_ws/src/crazyswarm/launch/crazyflieTypes.yaml, for example:

     kp_xy: 0.4 #0.6 # p for position
     kd_xy: 0.2 # 0.35 # d for position
     ki_xy: 0.05
     i_range_xy: 2.0
     kR_xy: 70000 # p for attitude
     kw_xy: 20000 # d for attitude
     kR_z: 60000 # 70000 # p for yaw
     kw_z: 12000 # 30000 # d for yaw
     ki_m_z: 500 #0 #20000 # i for yaw
     i_range_m_z: 1500 # i range for yaw
     kd_omega_rp: 200 # roll and pitch angular velocity d gain
     kp_z: 1.25
     kd_z: 0.4
     ki_z: 0.05
     i_range_z: 0.4

Do these parameters affect both PID and Mellinger controllers?
Or, these parameters can only adjust the control performance of the PID controller?

[whoenig]

Just mellinger, because they are in the ctrlMel group, see https://github.com/USC-ACTLab/crazyswarm/blob/master/ros_ws/src/crazyswarm/launch/crazyflieTypes.yaml#L9.