! DANGEROUS Problem!


I have a big problem that can be really dangerous. I use PX4 in Offboard mode with ROS2, so I publish commands to /fmu/in/vehicle_torque_setpoint. It works perfectly BUT: when I switch to Manual mode, my eleveron servos are mooving without any command ! This can make the model completely uncontrollable.

Why and how does publishing to /fmu/in/vehicle_torque_setpoint cause interference when I’m in Manual mode ?!

I’m using 1.14.0 stable firmware. ( in the 1.14.3 firmware offboard don’t work totally)

The movements are fast oscillations at 5 Hz with 5° to 10° amplitude . I can post a video if needed…

Thank you for your help.