Revert " #338: Fix yawrate sign in commander_generic packets" #1456
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This reverts commit f6c0e73.
…ition The Crazyflie now correctly handles both legacy and updated commander setpoints. It continues flipping the negated yaw for legacy packets to prevent unexpected behavior when updating only one side. Updated packets use the correct yaw sign and are taken as-is. This maintains compatibility while allowing for a phased transition. The legacy type will be deprecated in a future update.
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Latest commits to this and bitcraze/crazyflie-lib-python#516 ensure compatibility when updating either the Crazyflie or lib independently. The lib now checks the Crazyflie's CRTP version and sends either the legacy packet (with the original negated yaw) or the new packet type (with the corrected yaw sign). This allows for a smooth transition without breaking existing functionality. The legacy types will be deprecated in the future. |
ToveRumar
approved these changes
Feb 18, 2025
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This reverts commit f6c0e73.
Requires using correct yaw convention in cflib: bitcraze/crazyflie-lib-python#516