Open matejkarasek opened 4 weeks ago
No that's not great. The crazyflie firmware locks the input of the attitude setpoint commands if the first values aren't zeros to solve this issue.
But if the cfclient restarts and the crazyflie not, than that is indeed the corner case it didn't think of... We need to perhaps consider adding a check for this also in the cfclient perhaps?
When using a joystick without a spring on the throttle axis (using the
"springythrottle": false
in the config file), the cfclient initializes with a 50% throttle ignoring the joystick position. Only once the joystick is moved, it will give a correct throttle value.This is not desired, as connecting to the drone with joystick throttle axis at 0 may spin up the motors in some situations (restart of cfclient without a restart of the crazyflie, which has already been flown).