Change moveBy yaw rotation behavior

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.


Hi @iamjrmy,

Sorry for the late reply, I completely missed your post until a10pepo replied yesterday.

As @a10pepo said, you can also use negative values for dPsi which should be within the [-pi; pi] range.