I am flying a drone in OFFBoard mode. I send command to /mavros/setpoint_position/local topic through MAVROS. When I command a yaw rotation there is significant X,Y axis drift. Here is an example log file:
Please look at around 3:21, which is the moment when the yaw command is given to rotate 180 degrees. You will see that exactly at that moment PX4 also generates what seem to be pitch and roll angle commands to compensate for the X,Y drift motion, but the controller simply ignores it and does not track those commands. Also, some moments afterwards, the X,Y position value drifts away from the setpoint, which is the issue I am facing.
There is another post related to this here, however there was no further explanation on the solution (which involved a mixer file). I have read the mixing and actuators doc, but have not been able to understand it so far. The only specific question I have is to where should I save this file? There is metion about the directory " ROMFS/px4fmu_common/mixers" but where is it?
If anybody could provide insight on what issues are apparent from the logs or on a solution using a mixer file, I will appreciate it.
X - configuration (DJI F330 frame)
Using external compass, optical flow and also a feeding a VO estimated pose from ZEDm camera to the /mavros/vision_pose/pose topic.
Due to this issue, we limited the yaw rate to 60degree/sec max through the MC_YAWRATE_MAX parameter.