Drift while rotating

[pulver22]

Hi,

I'm trying to assign goal position to the drone using the c moveByRel X Y Z yaw command and I noticed the following behaviour: if the movements needed to be done are pure translation, the drone reaches the desired position without big efforts; but, in the case it has also to rotate, it drifts in the opposite direction of the rotation and take it back on track requires some time.

E.g.: suppose the goal position is ( 0.6, 2.5, -0.70, -30) wrt to the drone. It starts moving trying to assume the right orientation as first, meanwhile it reduces the offset on the three axis. What I always noticed is that, after reducing the offset on X (from 0.6 to 0) it drifts increasing it (from 0 to -0.5, for example). Therefore it spends time to realign again on X.

I read somewhere that this can be a drawback of a monocular system as PTAM but I'm not sure. Do you think is it possible to reduce this behaviour and obtain a smooth movements from the starting position to a goal one?