Abnormal mission following

PX4 Autopilot
2

Hi @Shd ,

Your vehicle is quite overpowered as it hovers at ~17% thrust. This is not a big problem, but it is unconventional and requires a few adjustments to fly properly.

  • set MPC_THR_MIN to ~0.05 (default is 0.12 and way too close to your hover thrust of 0.17, this is why the drone struggles to descend)
  • set MPC_THR_HOVER to 0.17. The hover thrust estimator estimates it correctly, but the change from 0.5 (default) to 0.17 (when the estimate gets valid) is too large and creates a transient issue in the velocity controller (explaining the sudden climb after takeoff).

Good luck!

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