How to implement a circular trajectory?

[Carmol1]

Hello.

I have used the function ''goto'' and the crazyflie effectively arrives to the desired point, but if i need to make use of sin(the), cos(the) and its derivative to generate the circular trajectory, what do I need to change in the code?.

I'd appreciate your help.

[jpreiss]

See https://github.com/USC-ACTLab/crazyswarm/blob/master/ros_ws/src/crazyswarm/scripts/cmdVelocityCircle.py for an example. You could also use cmdPosition or cmdFullState.

That script doesn't have a land() command, so you should probably add one before running it!

[Carmol1]

Hello.
Thank you so much for your help, for the moment, I am used cmdFullState.