Finding Yaw of AR Drone 2.0

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Hi,

How to find the Yaw of the drone (wrt to base link) ? I need it for implementing a PID controller.

I would like to mention that I have a pair of calibrated stereo cameras as well.

I am aware of a few approaches listed below, but not sure which might work out -

• The Ardrone IMU provides the yaw values but I also know that the IMU values are increasingly error prone (due to drift) as drone flight duration increases.

• Could using April Tags also work ? Would a horizontal (laid out on the ground) be better than vertical , since it would avoid the issue of the drone being unable to track it (which can happen in vertical April tag case) ?

• Would using OpenCV's cv::solvePNP (and hence obtain pose w.r.t. to the left stereo camera) be a good option ?

Thanks a lot !