I’m looking for ways to disable roll-yaw coupling in offboard flight mode to disable compensation for adverse yaw/dutch roll effects. I know that in acro flight mode, the parameter FW_ACRO_YAW_EN can be used, but I’m struggling to find an equivalent for offboard mode.
One approach could be setting FW_Y_RMAX to zero, but I’m not convinced this is the right solution. Additionally, commanding a 0 value for yaw_body in the VehicleAttitudeSetpoint message doesn’t seem to be effective based on my flight analysis.
Any ideas or suggestions would be greatly appreciated. Thanks!
I don’t think that by default there’s any sort of coupling in the control algorithm. Roll and yaw rates are stabilized independently from each other.
Only if you set FW_RLL_TO_YAW_FF to something non-zero will there be a true coupling.
What makes you think there is roll-yaw coupling compensation in your current setup?
Unfortunately, I’m unable to find the parameter FW_RLL_TO_YAW_FF in the parameter reference.
Based on the flight test video footage, the rudder appears to move synchronously with my ailerons, suggesting there might be a mixer working in the background. Additionally, the log data shows some coupling of the roll and yaw torque values: