Bitcraze Forums

Hi there,

I am working on a student project with the CF and using the Commander Class with Flow deck for control. However, I was wondering what is real the acceleration in x, y and z direction of the CF when I send a send_velocity_world_setpoint() or send_hover_setpoint() command?

Cheers

For accelerations, you can check out these logging values in the logging tab of the cfclient or in your script for the global coordinates: stateEstimate.ax, .ay, .az (https://github.com/bitcraze/crazyflie-f ... #L646-L648)

For body fixed coordinates, you should probably look at the raw acceleration data since those are not estimate din the state estimator: acc.x / z /y (https://github.com/bitcraze/crazyflie-f ... #L593-L597)