Use correct yaw convention in motion commander

Requires reverting commit f6c0e73 in `crazyflie-firmware`, i.e., requires no longer inverting received yaw rates upon arrival in `crazyflie-firmware`

Author: gemenerik

cflib/positioning/motion_commander.py

@@ -347,7 +347,7 @@ def start_turn_left(self, rate=RATE):
         :param rate: The angular rate (degrees/second)
         :return:
         """
-        self._set_vel_setpoint(0.0, 0.0, 0.0, -rate)
+        self._set_vel_setpoint(0.0, 0.0, 0.0, rate)
 
     def start_turn_right(self, rate=RATE):
         """
@@ -356,7 +356,7 @@ def start_turn_right(self, rate=RATE):
         :param rate: The angular rate (degrees/second)
         :return:
         """
-        self._set_vel_setpoint(0.0, 0.0, 0.0, rate)
+        self._set_vel_setpoint(0.0, 0.0, 0.0, -rate)
 
     def start_circle_left(self, radius_m, velocity=VELOCITY):
         """
@@ -369,7 +369,7 @@ def start_circle_left(self, radius_m, velocity=VELOCITY):
         circumference = 2 * radius_m * math.pi
         rate = 360.0 * velocity / circumference
 
-        self._set_vel_setpoint(velocity, 0.0, 0.0, -rate)
+        self._set_vel_setpoint(velocity, 0.0, 0.0, rate)
 
     def start_circle_right(self, radius_m, velocity=VELOCITY):
         """
@@ -382,7 +382,7 @@ def start_circle_right(self, radius_m, velocity=VELOCITY):
         circumference = 2 * radius_m * math.pi
         rate = 360.0 * velocity / circumference
 
-        self._set_vel_setpoint(velocity, 0.0, 0.0, rate)
+        self._set_vel_setpoint(velocity, 0.0, 0.0, -rate)
 
     def start_linear_motion(self, velocity_x_m, velocity_y_m, velocity_z_m, rate_yaw=0.0):
         """

examples/multiranger/multiranger_wall_following.py

@@ -122,9 +122,7 @@ def handle_range_measurement(range):
                               'yaw_rate', yaw_rate, 'state_wf', state_wf)
 
                         # convert yaw_rate from rad to deg
-                        # the negative sign is because of this ticket:
-                        #    https://github.com/bitcraze/crazyflie-lib-python/issues/389
-                        yaw_rate_deg = -1 * degrees(yaw_rate)
+                        yaw_rate_deg = degrees(yaw_rate)
 
                         motion_commander.start_linear_motion(
                             velocity_x, velocity_y, 0, rate_yaw=yaw_rate_deg)