Use correct yaw convention in motion commander #516
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Requires reverting commit f6c0e73 in `crazyflie-firmware`, i.e., requires no longer inverting received yaw rates upon arrival in `crazyflie-firmware`
ArisMorgens
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ArisMorgens
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ArisMorgens
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… backward compatibility The lib now checks the Crazyflie's CRTP version before sending velocity, zdistance, or hover setpoints. If the Crazyflie is outdated, it sends the legacy type with the original (negated) yaw to maintain compatibility. If the Crazyflie supports the new format, it sends the updated type with the correct yaw sign. This ensures a smooth transition when updating either the lib or Crazyflie separately. The legacy type will be deprecated in a future update.
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Latest commits to this and bitcraze/crazyflie-firmware#1456 ensure compatibility when updating either the Crazyflie or lib independently. The lib now checks the Crazyflie's CRTP version and sends either the legacy packet (with the original negated yaw) or the new packet type (with the corrected yaw sign). This allows for a smooth transition without breaking existing functionality. The legacy types will be deprecated in the future. |
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This PR updates the motion commander to use the correct yaw convention for yaw rate, aligning with the Crazyflie coordinate system. Specifically, it ensures that yaw rate follows the right-hand rule, as defined in the Crazyflie documentation.
To achieve this, it requires reverting commit f6c0e73 in crazyflie-firmware. That commit inverted the received yaw rates upon arrival, which is no longer necessary. The corresponding change is implemented in bitcraze/crazyflie-firmware#1456.
These two PRs must be merged together to avoid flipping the yaw rate (again). While we could consider maintaining compatibility, this was ultimately a bug—implemented incorrectly and inconsistently across different motion commander calls.
Fixes: #389