Bitcraze Forums

I'm using send_position_setpoint() commands via the Python library to fly my drone with a Qualisys motion capture system. It is supposed to follow another object ("target") that is tracked by the mocap system. The drone mirrors the target object's translational movements and also the yaw.

I set max translational velocity with the posCtlPid.xyVelMax and posCtlPid.zVelMax parameters, which helps a lot with safe and stable flight. However if my target object rotates too fast, the Crazyflie easily becomes unstable. Thus I'd also like to set maximum rotational velocity around the yaw axis, but I couldn't find the parameter to set this. Is it possible at all?

There is unfortunately no limitation for yaw implemented at the moment.

I'm not sure how easy it would be to add it, but the x/y/z limitation is implemented in https://github.com/bitcraze/crazyflie-f ... ller_pid.c if you want to give it a go