Problem Description:
Summary: Experiencing consistent position oscillations of approximately ±0.2m in X and Y axes when commanding yaw rotations via trajectory commands. The drone maintains stable position control during translation-only movements but becomes unstable when yaw is involved.
Hardware Setup:
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Flight Controller: Kakute H7
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Firmware Version: PX4 v1.16 (latest stable)
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Estimator: VIO (Visual-Inertial Odometry)
Flight Conditions:
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Flight Mode: castum tasks
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Control Method: Custom external tasks with trajectory controller via ROS2
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Topics used:
/fmu/in/trajectory_setpoint,/fmu/out/vehicle_odometry,/fmu/in/vehicle_visual_odometry -
Environment: VIO-based navigation (no GPS)
Observed Behavior:
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Drone maintains stable hover during position-only commands
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When yaw commands are sent (while maintaining XY position), drone oscillates ±0.2m in horizontal plane
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Oscillations appear to be coupled with yaw rotation timing
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Translation-only movements work smoothly
this is the flight logs
i glad if some one say params i need to cahnge
i try:
mc_yaw_weight = 0.8
mpc_xy_p 1.3
i dont try the velocity gain…
tanks for the help