Drone based on crazyflie firmware: orientation is off by 135 degrees CW on yaw.

[Daddedebad]

[Background]
Hello, I'm not sure where to ask this question, but I have followed this design: https://www.instructables.com/Build-the-Smallest-ESP32-Drone-You-Can-Fly-With-Yo/

It is a quadcopter based on the firmware from bitcraze but with some modifications to it. My question is whether I should poke around in the code so that is why I'm asking in this forum.

My drone had issues taking off because all motors ran CW. I switched leads on front-right and rear-left to correct this and now the drone takes off. It is not correct according to design but it is what worked.

[Issue]
Now instead the controls seem to be rotated by 135 degrees on the yaw. Perhaps on other dimensions as well, hard to tell. Forward tilt makes the drone move 4 o'clock, right= 7 o'clock e.t.c.

[Question]
Perhaps my issues are outside the bitcraze firmware, considering the modifications( and the weird initial motor issue). But would there be a way to correct the rotation issue if this was a pure bitcraze-based drone? Would this be done in the software in that case, I have not found an option in the configurations available?

[ArisMorgens]

Hello @Daddedebad!

This sounds like an interesting project!
In the Crazyflie firmware, there are different yaw modes (e.g the Plus-mode and the X-mode) with the X-mode being the default one. So, I would suggest to either implement a new one or modify one of them to fit to your configuration. You can find the code behind this here.

I hope this helps. Let us know if you have any issues on the Crazyflie firmware side of your project.

[Daddedebad]

Hey, thanks for the answer and sorry for the late reply!

Changes made in this code seems to change the orientation so I will have to experiment some here, which is what I was looking for! There are some oddities in for example that the orientation seems to be locked to x-mode(which is the mode I want regardless so that is ok at least), I will write that up as something the previous modifications on the firmware could be responsible for unless I missed something myself, but I can work around that now that I know the proper code file to do this in :)

So from here it is up to finding a proper orientation offset and being a better quadcopter pilot!