I send by Goto a yaw value : 0.2 so my drone is yawing with angle about 36 degree ..
what Ima trying to do is that I want the speed of yawing with that angle would be more slowly as a result Im trying to see if I can decrease the speed of yawing with given yaw's value, I have searched in file of crazyflie_ros 's scripts (python scripts) but didn't figure out where I can modify the speed .. ofcourse there's a calculation to speed of yawing or something like that .. if not in crazyflie_ros's scripts as in my firmware, but where could I find that?! in goTo? I searched it step by step and didn't find out where I can decrease the speed of yawing ...
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import rospy import crazyflie import time import uav_trajectory if __name__ == '__main__': rospy.init_node('test_high_level') cf = crazyflie.Crazyflie("crazyflie", "/vicon/crazyflie/crazyflie") cf.setParam("commander/enHighLevel", 1) cf.setParam("stabilizer/estimator", 2) # Use EKF cf.setParam("stabilizer/controller", 1) # Use mellinger controller cf.takeoff(targetHeight = 0.5, duration = 2.0) time.sleep(3.0) cf.goTo(goal = [0.5, 0.0, 0.0], yaw=0.2, duration = 2.0, relative = True) time.sleep(3.0) cf.goTo(goal = [-0.5, 0.0, 0.0], yaw=0.2, duration = 2.0, relative = True) time.sleep(3.0) cf.land(targetHeight = 0.0, duration = 2.0)