I’ve been implementing support for overactuated airframes with the control allocation module (pr-control_allocation). I want to test it on actual hardware, but I’m running into an issue:
All my motors spin up with a 1450 pwm value.
I’ve tried reducing my PWM_MAIN_MIN value (from 1075 to 950) but that wasn’t it. I’ve calibrated my ESCs as well. I used a non-control allocation airframe and the issue didn’t show up. So I’m pretty sure there’s something wrong going on with the control allocation module. I’ve tried looking into the direct mixer for main and aux outputs but couldn’t find any leads there.
Has anyone else faced this issue? Would any of you happen to know what might be causing it?