I have enabled nudging for my drone which uses v1.15.0
The thing is nudging inputs are delayed. During descend, if I give a input through a controller, I see the drone performing those inputs after few seconds. I dont know if this expected but I would like to know the cause and how to modify this to work normally.
Do you have a log to illustrate this? Please upload to logs.px4.io and share here.
And can you reproduce the problem in SITL?
Here is the flight log. You can observe this in open 3D view where you can see the stick input and how the drone reacted during RTL.
One observation,
_stick_yaw.generateYawSetpoint(); & _acceleration_setpoint.xy() is implemented in update() loop of auto and descend (line 63) flight task inside the nudging the condition.
In other flight modes the these are implemented in _updateSetpoints(). Is the frequency of the update less than the _updateSetpoints() which might explain this?