We have a hexacopter running pixhawk 2.1 with DJI ESCs and motors (believe E300)
I have checked the balance along the three motor axis and it is very well balanced.
Otherwise it is quite symmetric, so I hope moments of inertia are balanced too.
What we see is that three motors (alternating, i.e. ones spinning in the same direction) are sent higher PWM than the other 3, consistently.
Here is an example log: https://logs.px4.io/plot_app?log=9eca6934-b657-4976-a32f-b2e56535f05f
It was for more or less stationary flight, just hovering in one place.
Note in ‘Actuator Outputs’ three lines separate from the other three.
Anyone seen this before?
Any ideas why this may be happening consistently?
PS: we are on 1.8.0