I am using moveBy to make the drone change heading while in place. However, it seems to be circling in clockwise direction only. Is there a way to change the behavior dynamically according the the dPsi value? clockwise or counter-clockwise, whichever is the nearest turn.
If I am not mistaken you can also use negative values, you will need to first calculate the fastest way and apply the sign.
moveBy(0,0,0,-10)