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!
bresch
2
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.
bresch
4
You can upload the log to https://logs.px4.io and share the link here.
1 Like
@bresch here is a log that has the yawrate artefacts: Flight Review
I assume it has something to do with these lines:

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.
bresch
6
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