Thrust glitch in mission mode

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.

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

Thanks in advance for the help.