I don't know it you managed to solve your issue, but I realized that I was wrong when claiming the send_setpoint() function takes absolute yaw and just wanted to clarify that it actually uses yaw rate. The roll and pitch parameters are absolute values while the yaw is a rate. This is apparently due to historical reasons since this is a one-to-one mapping of the joysticks on a gamepad and dates back to when the Crazyflie was created.
Sorry for the confusion!
Discussions about autonomous flight in general, regardless of positioning method