Is there a way (via nsh or mavlink, for example) to manually set the individual motor outputs? This would be very useful for motor balancing and probably many other things.
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I second this. A Motor Test (similar as APM) would be nice to check if the Motors are connected in the correct order. Also for balancing single Motors & Props.
This exists, have a look at the pwm app.
The test
option is made for exaclty that.
Note that it is advisable that you first disable any running attitude controller, e.g. with mc_attitude_control stop
for multicopters. Otherwise, the attitude controller may send other PWM commands which interfere with your test command, causing undesired/jittery behavior of the motors.
Oh, awesome. thanks.