In the offboard mode,I use the topic “/fmu/in/vehicle_rates_setpoint” to control my quadrotor. When my controller cauculates control output and transfer it to the form that body_rate control mode needs. I find my quadrotor can not act what I want. It seems that something is trying to substitute my controller, and here is the data from px4 log. First, I think maybe the control output’s thrust is not big enough to generate the desired moment, but after I change the mapping larger for more thrust, the situation does not change. I want to know what mechanism did my controller meet.
As a reminder, the second half of the data is taken over by the remote control
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