Hi @gsilano,

Thank you for this great package for simulating the Crazyflie MAV. I am running Ubuntu 18.04 with ROS Melodic and Gazebo9 and have installed and run your hovering example.

I am however experiencing some problems once I try controlling the X and Y directions. If I just change the reference from (0,0,1) to (1,1,1) i get the following response

Which is obviously not what we would want to see. Besides the position problem I would also expect that drone would have moved much further when at these roll and pitch angles for so long which could indicate a problem in the physical model.

To investigate a bit further made a new controller node which is based of your position_controller.cpp and using the crazyflie_onboard_controller.cpp. The controller uses your HoveringControl(...) to make it hover at 1 meters height and then it accepts roll and pitch values from the user instead of from a position controller. Running this I get the following response when trying to control the pitch angle:

Which looks like there could be something with the attitude controller and maybe it's gains.
Also it only manages to move 20 cm in ~7 seconds of tilting 5 degrees which doesn't seem correct.

Thank you for any help or insight you can provide.