[SITL-Gazebo 3DR Solo] oscillation issue

Dear all,

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

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.

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: https://review.px4.io/plot_app?log=7a09b3f9-6f6f-4c5e-9d18-dbbd5c69094f

  2. PX4 v1.13.0 with the changed MC_ROLLRATE_P parameter: https://review.px4.io/plot_app?log=80e8e131-271d-451a-80df-aa61d35705a2

  3. PX4 v1.11.0 with default parameter values: https://review.px4.io/plot_app?log=3006582c-67ef-4e55-a10d-38d60be975be

Thank you!

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


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