I’m trying to simulate a quadrirotor in hil mode with xplane simulator(imposed). The hardware target is pix32v5.
Xplane data are converted to mavlink message every 25ms.
2 messages are generated (hil_sensor and hil_gps).
Everything work fine, but after a certain delay (between 15s and 45s) after start sending xplane data ,
estimated angular speed(on 3 axis) diverge while oscillating and go Nan(visible in mavlink message attitude quaternion).
After that, flight controller enter in degraded mode.
I don’t understand why this divergence and i don’t know howto resolve this problem.
I have checked:
- Sampling regularity of sensor data
- Raw data arriving in the flight controller
- Vibration metrics (<0.04ms)