cf.initialPosition values

[Reginald-Jeeves]

When I fly the crazyflies using the nice_hover script from crazyflie_examples, the drones all collide.
I identified the problem to be in the goTo() function, Here the goal position is cf.initialPosition + (0,0,takeoff_height).
The intial position values that I had set up for the simulation was somehow being retained when testing physically.
On using crazyflie launch.py instead of using the initial values from the lighthouse positioning system it uses initialPosition values from the config files. This was not the case before and it only started occuring when I pulled the updates from the crazyswarm2 repository 1 month ago. I wonder how I can make it so that cf.initialPosition contains the initial position values of the crazyflies before they takeoff.

[knmcguire]

Hi! I think the initial positions are also being used for the single marker tracking of the mocap package so I'm afraid that that can't really change (@whoenig, please correct me if I'm wrong).

If I were you, I would get a logging callback for the pose callback and get another variable to contain that value for you.

[whoenig]

I am not aware of any purposeful semantic change in crazyswarm2. cf.initialPosition has been the value from the config file in Crazyswarm1. If one wants the "real" value, one should use the position() function (or using the logging callback as Kimberly suggested).