Strange artefacts on Yawspeed Controller Setpoints

Hi @bresch ! We are seeing strange artefacts on the yawspeed controller setpoints. This signal is vehicle_attitude_setpoint/yaw_sp_move_rate:

This happens very consistently on every flight. We haven’t been able to determine why. Any ideas would be much appreciated!

Hi, I’ve never seen this. Are you using 1.15? Do you have multi-ekf enabled (is maybe switching instances)?
Could you share a log?

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Hi @bresch We are on v1.13 unfortunately. It would currently be difficult for us to upgrade. We do not have multi-ekf enabled.

I would be happy to share some logs, but the PX4 site says .ulog is forbidden? I can also share on discord if that is easier.

You can upload the log to https://logs.px4.io and share the link here.

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@bresch here is a log that has the yawrate artefacts: Flight Review

I assume it has something to do with these lines:
image

which were changed here: MC_auto: avoid yaw step if previous setpoint is NAN · PX4/PX4-Autopilot@616a71a · GitHub

As the noise appears about 5Hz.

Right, this was fixed 1.5 years ago for v1.14 …
Maybe try to port those modifications to your branch.

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Hey! @bresch can confirm this fix worked for us as well. Thanks for the assistance. I’ll mark this as solved.

For searching:

yawrate yawspeed setpoint sp jitter spikes jumps feedforward ff