Moving forward

[SohaibAJ]

Hello,
I am currently working on controlling my drone using a raspberry pi and I can't get it to go forward. I tried all the commands to move the drone mentioned in the link
http://python.dronekit.io/1.5.0/examples/guided-set-speed-yaw-demo.html
but they all seem to move the drone with respect to the directions North and East. I want to move the drone forward relative to the drone itself.

For example: When I use the commands "goto_position_target_local_ned" or "send_ned_velocity", it moves in the North direction. I wish to change the yaw using "condition_yaw()" command and then move it forward by 5m relative to the heading of the drone.

Kindly guide me in the right direction. 😃
P.S. If there is a way other than RC Override/Channel Override then that would be awesome

Thanks in advance

[hamishwillee]

Suggest you look at the current version docs - http://python.dronekit.io/

If you check http://python.dronekit.io/guide/copter/guided_mode.html#guided-mode-copter-set-yaw you can see that there is a parameter relative that can be used to set whether the yaw is absolute or relative to the body.

IN the velocity control section http://python.dronekit.io/guide/copter/guided_mode.html#guided-mode-copter-velocity-control it shows how to set the frame relative to home, but see the tip below for how to change the frame to body: (starts with: "... From Copter 3.3 you can specify other frames, for example MAV_FRAME_BODY_OFFSET_NED ..."