rotateToYaw(yaw) returns at yaw but drone rotates more before stopping

[wagnboss]

I am using the Python API.
MultirotorClient class method rotateToYaw(yaw, max_wait_seconds, margin) always over shoots the target yaw. If large enough max_wait_seconds argument is supplied, method return when yaw is within margin of target yaw, but drone continues to rotate for a while. For example, see following pyton code:
from AirSimClient import *
import time
import math

factor = 180./math.pi

def print_info():
pitch, roll, yaw = client.getPitchRollYaw()
print("pitch %5.1f, roll %5.1f, yaw %5.1f" % (pitchfactor, rollfactor, yaw*factor))
print()

client = MultirotorClient()
client.confirmConnection()
client.enableApiControl(True)
client.armDisarm(True)

delay = 5
max_wait_seconds = delay

client.takeoff()
time.sleep(delay)
print_info()

print("rotateToYaw (90)")
client.rotateToYaw(90., max_wait_seconds, 1)
print_info() # it reached 90
time.sleep(delay)
print_info() # it continued rotating

---

which produces the following output:
Waiting for connection:
after takoff
pitch 0.0, roll 0.0, yaw 0.0

rotateToYaw (90)
pitch 0.0, roll 0.0, yaw 90.5

pitch 0.0, roll 0.0, yaw 114.4

---

Is this is normal/expected/desired behavior?
If so, how do I get the drone to STOP rotating when it reaches target yaw?
I've tried adding the following line immediately after the call to rotateToYaw, but it does not work.

client.rotateByYawRate(0.,1) #try to stop rotation

[sytelus]

You might want to play around to turn PID controller. Overshoots might happen because p is too high for example. There is plenty of literature on web on PID tuning...

PID parameters:
Play with rate and level PID parameters: https://github.com/Microsoft/AirSim/blob/master/AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/Params.hpp#L51

Code: https://github.com/Microsoft/AirSim/blob/master/AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/AngleLevelController.hpp

[mwanggh]

I found this command to work when the drone is hovering. If you control the head direction in move, you may use the drivetrain parameter.

client.hoverAsync().join()
client.rotateToYawAsync().join

[Yuchen-sky]

I found this command to work when the drone is hovering. If you control the head direction in move, you may use the drivetrain parameter.

client.hoverAsync().join()
client.rotateToYawAsync().join

i do as you said, but it is not work two airsim 1.2

[cloudlakecho]

@wangnboss, Would you share your AirSim version?

I don't have those Classes in my Python API. When I try to use rotateToYaw function, I receive this error:

client.rotateToYaw(math.radians(orientation[2]), max_wait_seconds, margin[2])
AttributeError: 'MultirotorClient' object has no attribute 'rotateToYaw'

It looks like that I don't have getPitchRollYaw() neither....

[jonyMarino]

Solved by PR2516