I start with the sticks in the center position and then adding the throttle. And nothing happens - the motors spin at minimum speed.
There are slight fluctuations in motor speed in response to throttle input near the maximum values. I checked this in each MPC_POS_MODE setting - “Direct velocity”, “Smoothed velocity“ and “Acceleration based”.
PX4 version: Release 1.15.4.
Configuration with MTF-01 (lidar and optical flow sensor) without GPS is used:
// Common settings
COM_PREARM_MODE = Disabled
SYS_HASGPS = Disabled
EKF2_GPS_CTRL = 0 (all off)
EKF2_IMU_CTRL = 7 (Gyro bias + Accel bias + Gravity vector fusion)
EKF2_MULTI_IMU = 3
SENS_IMU_MODE = Disabled
EKF2_HGT_REF = 2 (Range sensor)
// Optical flow sensor connection
MAV_1_CONFIG = TELEM 2
SER_TEL2_BAUD = 115200 8N1
SENS_FLOW_ROT = 0
// External vision
EKF2_EV_CTRL = 15 (Horizonal position + Vertical position + 3D velocity + Yaw)
EKF2_EV_DELAY = 0.0 ms
EKF2_EV_QMIN = 0
// Optical flow
EKF2_OF_CTRL = Enabled
EKF2_OF_DELAY = 20.0 ms
EKF2_OF_QMIN = 1
EKF2_OF_QMIN_GND = 0
// Range sensor
EKF2_RNG_CTRL = Enabled
EKF2_RNG_DELAY = 5.0 ms
EKF2_RNG_A_MAX = 8.0 m
EKF2_RNG_NOISE = 0.1
It flies near normally in Manual and Stabilized modes.
Any ideas?