ardrone_autonomy
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AutonomyLab
Yaw changes drastically after takeoff
When the node first starts, I listen to the navdata topic and watch the rotZ value. If I hold the vehicle down physically and tell it to take off, the props begin to spin, and though the vehicle hasn't moved, there is an instantaneous change in heading of about 160 degrees. I have attached a MATLAB plot of this. The three colored lines represent the magnetometer values, which don't appear to shift drastically, and the black line is the rotZ value, which makes a sudden change after being issued the command to take off. I have verified this is several scenarios (including, of course, allowing the vehicle to take off), and I always get the same thing. Unfortunately, looking at your source code, it looks like you're just copying the value that comes from the API, which means this could be a deeper bug. Still, I don't see how this could possibly have gotten by so many people. Has anyone else experienced this? Can anyone else verify?
Sorry, I actually haven't used my drone in ages. I'll try to look into this in the next couple weeks, if that works for you.
That's totally fine. I am just trying to close/update tickets if they are still (ir)relevant.