Cool to see that someone else is doing the same thing! I'd like to see the difference in how you and I implemented the headfree mode or "yaw lock" as you call it.
Does that mean that the Crazyflie will try to counteract any forces that are causing unintentional yaw drifting? For example, if I press your yaw lock button while the flie is facing the same way that I am, and a bit of wind or air circulation spins the flie slightly, the PC client will read the current yaw and adjust for it to make the flie "lock" onto its yaw? Or does your code simply block the yaw commands when the button is pressed?Alfredvc wrote:Once the button is pressed, the crazyflie will lock its orientation about its vertical axis (fixes the horizontal orientation and yaw commands are ignored)
What I meant by headfree was more like this:
Where the crazyflie gets to rotate, and the controller still has full control over yaw, it's just that the pitch and roll input are unaffected by the yaw of the flie. So if I started up the Crazyflie facing the same way as me, then no matter what the yaw of the crazyflie is at any time, if I push forward on pitch, the crazyflie will go forward relative to me(assuming I haven't moved since startup).mindthomas wrote:https://www.youtube.com/watch?v=4ZPcuYWCVd0