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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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VTOL Uncommanded Yaw in Transition #18224

Closed matthtan closed 3 years ago

matthtan commented 3 years ago

Hello,

During a VTOL transition, there is a consistent, uncommanded yaw before the aircraft starts moving. See this log here at the very beginning of the transition around 12:14 to 12:16. After the yaw (ending at 12:16) the aircraft continues on normally. Weather vane is disabled.

Thank you!

ThomasRigi commented 3 years ago

For me this looks like a physical problem on your drone. There is no yaw rate setpoint that would indicate that it's PX4 that wants to yaw. Also, the actuator control looks consistent: the yaw rate setpoint is roughly 0, the yaw rate is negative, so it outputs a positive control output trying to get the negative rate back to the setpoint. image image

matthtan commented 3 years ago

Thanks for the response!

We ended up switching the propeller directions on the front two motors (tricopter configuration, so swapping the position of the counter-rotating props) and the yaw went away, so it definitely seems like a physical change.

Thanks!