Fix tiltrotor oscillations #386
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Thanks for finally fixing this! |
dagar
approved these changes
Jan 4, 2020
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Updating the sitl_gazebo submodule in PX4/Firmware is blocked at the moment. PX4/PX4-Autopilot#13784 |
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@dagar Thanks! |
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Tilt rotors were oscillating rapidly when stationary. This was due to the high gains of the joint control pid loop of the tilt joints. This PR lowers the gains slightly so the oscillations are not visible anymore
Before PR:
After PR:
(this is not a image, but a moving gif)
After the joint control gain has been lowered, the vehicle is still able to fly a successful mission: log