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bitcraze / crazyflie-lib-python

Python library to communicate with Crazyflie
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motion commander, start_linear_motion reverse yaw #389

Open knmcguire opened 1 year ago

knmcguire commented 1 year ago

If somebody uses the start_linear_motion function from the motioncommander, and add a yaw_rate, you'll see that the resulting yaw rate on the crazyflie itself is reversed, compared to the coordinate system that we have given in our documentation: https://www.bitcraze.io/documentation/system/platform/cf2-coordinate-system/

This was originally introduced with this PR: https://github.com/bitcraze/crazyflie-firmware/pull/338 and implemented in all packets there forth. The problem is that the coordinate system is consistent with the state estimate but not consistent with the control input...

knmcguire commented 1 year ago

Also related a bit to this bigger picture conversation of the crazyflie-firmware: https://github.com/bitcraze/crazyflie-firmware/issues/396

knmcguire commented 1 year ago

this needs to be investigated as it is being negated in multiple places, and eventually again in the firmware...