[SITL-Gazebo 3DR Solo] oscillation issue

PX4 Autopilot
1

Dear all,

While I tested 3DR Solo on Gazebo, I noticed that oscillation occurs during mission flight mode as shown in the below figure.

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It seems likely to me that this issue is a regression because the oscillation does not occur in PX4 v1.11.0.

When I changed MC_ROLLRATE_P parameter value from 0.1 to 0.05, it fixed the oscillation problem.

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It will be great if the default parameter value will be updated to prevent the oscillation.

FYI, I have left flight logs.

  1. PX4 v1.13.0 with default parameter values: Flight Review

  2. PX4 v1.13.0 with the changed MC_ROLLRATE_P parameter: Flight Review

  3. PX4 v1.11.0 with default parameter values: Flight Review

Thank you!

2

@HyungsubKim Would it be possible to create a PR in GitHub - PX4/PX4-Autopilot: PX4 Autopilot Software with the updated gains?

2 Likes
3

@Jaeyoung-Lim
Sure! I have created a PR request (Tune down solo roll rate controller by KimHyungSub · Pull Request #18009 · PX4/PX4-Autopilot · GitHub). Thank you!