Q: How does PX4 handle an ESC/Motor failure on a quadcopter
From @dagar
“There’s some monitoring in commander using ESC feedback. there’s handling in the control allocator that removes the failed motor and recomputes the control effectiveness for example a hex could lose a motor, recompute the “mix” for the remaining 5 and still be functional for a quad it wouldn’t “just work” as is without special yaw handling”