cmdVelocityworld function will cause one of drones to lose constant height

[wawachen]

Hi,

I observed when I use more than one crazyflies. The cmdVelocityworld function will cause several drones to lose height, which means I always sent the z velocity to be zero, but it will fall a little bit and hover at a lower height. (For one drone, it was fine)

could you please help this?

[whoenig]

If you use the on-board velocity controller, you likely still need an outer position controller for the height. Alternatively, you can use cmdFullState and send position and velocity setpoints.