Crazyflie drifts left when sending zero Hover command via /cf233/cmd_hover

[ShaneCan]

Hi,

I am working with Crazyflie with crazyswarm2. When I try to control the drone by directly publishing to the Hover topic with zero velocities, the drone drifts to the left instead of hovering in place.

To be specific:
After takeoff, I run the following command to publish Hover messages at 20 Hz:

ros2 topic pub -r 20 /cf233/cmd_hover crazyflie_interfaces/msg/Hover \
"{vx: 0.0, vy: 0.0, yaw_rate: 0.0, z_distance: 0.5}"

The Crazyflie should hold position (hover in place) when vx=0.0, vy=0.0, yaw_rate=0.0 are sent continuously. However, instead of hovering in place, the Crazyflie drifts to the left (relative to its heading). This happens consistently. This resulted in the drone failing to move as intended regardless of the control commands I sent.

Hardware: Crazyflie 2.1 + Multi-Range + Flow deck v2. TF tree shows map → cf233 yaw ≈ 0°, so this does not seem to be a frame rotation issue.

Why would sending zero velocity via cmd_hover cause the drone to drift left? Any hints on configuration or parameters to check would be appreciated!