Can you specify yaw?

[rapop]

Hi,

Can I specify the yaw of the quadrotor with the c++ version as with Matlab?

[andre-nguyen]

Unfortunately no, however I guess it would only take a few hours to add yaw to the trajectory since you simply add another dimension/optimization problem to solve and the order of the polynomial is different. For the matlab version, I had started adding the yaw but I never finished it (number of states = 3 so the yaw waypoints in W don't actually do anything). Something wasn't working with the yaw trajectory and I had decided to drop it to simplify things while I got the rest working.