How to Control Drone Yaw Using DroneKit: Simple Guide

To control drone yaw using dronekit, use the condition_yaw() function to set the desired heading angle and rotation direction. This function commands the drone to rotate to a specific yaw angle smoothly while flying.

Syntax

The condition_yaw() function controls the drone's yaw (rotation around vertical axis). It takes these main parameters:

• heading: Target yaw angle in degrees (0-360).
• relative: Boolean to specify if yaw is absolute or relative to current heading.
• yaw_rate: Optional speed of yaw in degrees per second.
• direction: Optional rotation direction: 1 for clockwise, -1 for counter-clockwise, 0 for shortest path.

This function sends a MAVLink command to the drone to rotate its heading accordingly.

python

vehicle.condition_yaw(heading, relative=False, yaw_rate=None, direction=0)

Example

This example shows how to connect to a drone, arm it, take off, and then rotate the drone 90 degrees clockwise using condition_yaw(). It waits for the yaw to complete before landing.

python

from dronekit import connect, VehicleMode
import time

# Connect to the vehicle
vehicle = connect('127.0.0.1:14550', wait_ready=True)

# Arm and take off to 10 meters
vehicle.mode = VehicleMode('GUIDED')
vehicle.armed = True
while not vehicle.armed:
    time.sleep(1)

vehicle.simple_takeoff(10)

# Wait until the vehicle reaches a safe height
while True:
    if vehicle.location.global_relative_frame.alt >= 9.5:
        break
    time.sleep(1)

# Rotate drone 90 degrees clockwise
vehicle.condition_yaw(90, relative=True, direction=1)

# Wait for yaw to complete
time.sleep(5)

# Land the drone
vehicle.mode = VehicleMode('LAND')

# Close vehicle object
vehicle.close()

Output

No printed output; drone takes off, yaws 90 degrees clockwise, then lands.

Common Pitfalls

Common mistakes when controlling yaw with DroneKit include:

• Not setting relative=True when you want to rotate relative to current heading.
• Ignoring the direction parameter, which can cause the drone to rotate the long way around.
• Not waiting enough time after condition_yaw() to let the drone finish rotating.
• Trying to yaw while the drone is not in GUIDED mode or not armed.

python

## Wrong way: yaw without relative=True
vehicle.condition_yaw(90)  # rotates to absolute 90 degrees, not relative

## Right way: yaw relative 90 degrees clockwise
vehicle.condition_yaw(90, relative=True, direction=1)

Quick Reference

Tips for controlling yaw with DroneKit:

• Use relative=True to rotate relative to current heading.
• Set direction=1 for clockwise, -1 for counter-clockwise rotation.
• Use yaw_rate to control rotation speed.
• Always ensure drone is armed and in GUIDED mode before yaw commands.
• Wait after yaw command to let rotation complete before next action.

Key Takeaways

Use vehicle.condition_yaw() to control drone yaw angle precisely.

Set relative=True for relative yaw rotation and direction to control rotation side.

Ensure drone is armed and in GUIDED mode before sending yaw commands.

Wait sufficient time after yaw command for the drone to complete rotation.

Yaw angles are in degrees from 0 to 360, representing compass heading.