CAREFREE yaw mode function? [SOLVED]

[mrmks]

I'm trying to use the 'carefree' yaw mode. I can see that I set the yawMode to CAREFREE from the examples/basicparams script:

Code: Select all

flightmode.yawMode: 0

however, when I ramp up power to 40% and yaw the crazyflie with my hand, it still tries to correct (two motors spin faster and two spin slower). How can I get the crazyflie to not care about yaw angle or yaw rate?
Thanks,
Miles

[mrmks]

When I flew the crazyflie with the CAREFREE mode active, it behaved just like the comment in the code in commander.c :

Code: Select all

/**
 * Yaw carefree mode means yaw will stay in world coordinates. So even though
 * the Crazyflie rotates around the yaw, front will stay the same as when it started.
 * This makes makes it a bit easier for beginners
 */

I assumed that this CAREFREE mode also meant 'don't reject external yaw disturbances', but that is not what the code does.

[tobias]

I assumed that this CAREFREE mode also meant 'don't reject external yaw disturbances', but that is not what the code does.

I'm not fully sure what you mean. Is the "fixed" yaw position drifting to much?