Delayed Commands and Surging Throttle Behavior in Alt /Position Mode

PX4 Autopilot Multicopter 🛸
4

update:

  1. Simulate HIL in Jmavsim, try to reproduce the problem.
    (i’m using ubuntu22.04, therefore i can’t simulate in gazebo garden without HIL module so far)

I’m not sure what is the ability of this HIL simulator and is it possible to simulate every parameter in HIL mode. Could someone give me a hint?

Flightlog in HIL, so far i couldn’t see any useful information. :frowning_face:
https://review.px4.io/plot_app?log=2e636756-bdbe-427f-803f-22388cf04e60

  1. As @Mr_Madsen reminded, move the compass from the frame, it did reduce the correlation between magnetic field and thruttle.

I found out that in Alt mode :before throttle push over the middle position, the motor won’t react, after throttle push over middle a while, the motor will suddenly spin in a high rpm. However, i done this with propeller removed, i couldn’t judge if this is normal.

The process of reproducing error is so frustrated, i will try my best to figure out the answer.