I am doing a project that involves data collection. To do this, I need to do a data collection routine that involves rotating the drone at some point (fixed x, y). I’m having trouble doing this, I’m currently doing small rotations using PoseStamped’s Quaternion (orientation) from /mavros/setpoint_position/local , adding small values to it and publishing. In SITL, it went as planned, but in the HITL simulation I had serious problems and the drone began to behave extremely strange, even falling.
Would anyone have a suggestion on how to do this?
Thank you all!