How to get orientation feedback for crazyflie?

[animesh-singhal]

Hi,

I want to implement a controller to control yaw. I require the yaw feedback to do this.

While searching for it in the Python API Reference in the documentation, I could only find a function to get the position feedback: position().

How can I get the feedback for the rest of states? (eg: yaw, roll, pitch).

Regards,
Animesh

[whoenig]

It depends on what localization system you are using. Internally, the position() call uses /tf, which also includes orientation. However, this value will only be valid, if you use a motion capture system with full pose tracking. For single marker tracking, LightHouse, etc., you would enable pose logging and then subscribe to the the resulting /pose topic.

[animesh-singhal]

Thank you so much for the prompt response :)