Crazyflie flips at takeoff using vicon, maybe due to wrong coordinate system

[CharlesSol7]

Hello,
I have an issue when testing the crazyflie with the crasyswarm package and Vicon. I tested with motionCapture and libobjecttracker, with single markers and four markers, with Sending_position_only set to True and False. No matter the configuration, the crazyflie crashes when running hello_world with hover_swarm.launch.
The position and orientation of the crazyflies are well detected on Vicon and Rviz, I have set x pointing to the front of the drone, y to the left, and z up on Vicon.
However, it seems that the crazyflie succeeds to hover (sometime) only when its initial position is at the origin pointing in negative x (Body frame rotated of 180deg around z relative to Rviz world frame), and it drifts until landing.
I use ROS Noetic on a virtual machine (with a good computer) running Ubuntu 20.04.

I think I have an issue with the coordinate systems, maybe an axis mirrored in the controller? Rviz displays the same reference frame as Vicon, which follows the right-hand rule, and it seems coherent. Have you heard of a similar issue, and do you have any advice to help me to debug it? What file is responsible for the position controller of the crazyswarm?

Thank you