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We did extensive experiments today to answer these questions: For our setup (cf 23.11 firmware), when not setting xmode (hence xmode defaulting to false) we have "x-configuration" as indicated https://www.bitcraze.io/documentation/system/platform/cf2-coordinate-system/ I can do a pull request to change the naming convention of x-configuration to +-configuration if desired, lmk |
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Hi, we're working on getting the cmdVel (in attitude, not attitude rate) working and we were wondering whether +-mode is indeed the default mode as the
commander.py
software indicates.We previously worked with older crazyflie software where x-mode (as defined in typical settings, axes 45 degrees offset from propeller axes) was enabled by default, hence were confused what is meant in the cflib software with xmode
Additionally as pitch is negated after the xmode transform we are unsure whether we need to make any adjustments? Would it be possible to generate a figure for the xmode and +-mode configuration and what the values are that it expects (when calling set_setpoint)
Would I be right to assume that if I set xmode to enabled it will follow this coordinate system: https://www.bitcraze.io/documentation/system/platform/cf2-coordinate-system/
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