Thrust glitch in mission mode

🧪 Flight Testing & Log Analysis
1

Hi all,

While flight-testing our tailsitter aircraft in mission mode, the prop-motors glitched twice. We can’t figure out what is causing the issue.

From the position controller the Z-velocity setpoints are set to intercept the set waypoint altitude, which looks fine. However, in the actuator 0 plot there are two “glitches” in the thrust setting visible around 3:28 and 3:30. First the two motors cut out and then immediately set full power after which they restore back to their normal thrust setting.

Velocities.PNG994Ă—426 35.5 KB

actuatorControl.PNG977Ă—424 32.7 KB

This issue has occured in multiple of our test flights. The log of the flight above:

https://logs.px4.io/plot_app?log=7a0e288b-e642-4ab2-8061-542db7650fef

Thanks in advance for the help.