Crazy servo output when aircraft is disarmed

rosflight / rosflight_ros_pkgs

ROS packages for the ROSflight autopilot

http://rosflight.org/

BSD 3-Clause "New" or "Revised" License

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Crazy servo output when aircraft is disarmed #32

Closed dallinbriggs closed 6 years ago

dallinbriggs commented 6 years ago

I think something may be wrong with the servo output while sitting disarmed. Having a high pwm update rate causes the servo output to be completely random. In this plot, all I did was switch the update rate from the default frequency to 50 Hz for servos.

servo_output

superjax commented 6 years ago

@dallinbriggs, can you post your parameters yaml file here?

dpkoch commented 6 years ago

@dallinbriggs It appears that this behavior only occurs when the autopilot is in failsafe mode. This happens because the failsafe command is zero setpoints in angle mode, so the attitude controller is running. Can you confirm that this stops happening if you have RC on?

dpkoch commented 6 years ago

Replaced by rosflight/firmware#217