How to change attitude while hovering?

[adbidwai]

Hi,

I was trying to change the quadrotor attitude using the topic cmd_attitude while hovering (I am making the drone hover using the cmd_hover topic). The drone seems to be confused and I can understand why - it cannot listen to two different commands at the same time. This leads me to my question - How can I change the attitude of the drone while hovering?

Also, I noticed that roll and the pitch setpoints are exposed in the topic subfields, but yaw_rate instead of yaw is exposed? What is the technical reason for this?

Hoping to learn more.

Thanks a lot!

Best,
Aditya

[llanesc]

This seems to be more of a Crazyflie question. I attempt to answer it here #9 (comment) by stating that you need to send all zeros to switch to low level commander mode before the Crazyflie will accept those commands.

The default roll, pitch, and yaw rates are from https://www.bitcraze.io/documentation/repository/crazyflie-lib-python/master/api/cflib/crazyflie/commander/. You can switch it to be absolute or velocity mode by looking at the parameter group flightmode in https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/api/params/#commander.