Yaw rotation in offboard with Vz > 10 m/s

PX4 Autopilot Multicopter 🛸
1

Dear @Jaeyoung-Lim @rroche
I am flying a drone in OFFBoard mode. I send velocity and yaw commands to /mavros/setpoint_raw/local topic through MAVROS. When I command a yaw setpoint with Vx and Vy (Vz = 0) there is no issues upto 20 m/s. After inducing Vz (dive is initiated), there is a significant anti-clock yaw rotation. The rotation is not significant at lesser resultant velocities. Here is an example log file:

  1. 05 m/s speed ==> https://review.px4.io/plot_app?log=84c55a0b-3ea7-46c7-82ca-8c0cad320b23
  2. 10 m/s speed ==> https://review.px4.io/plot_app?log=ea5202e4-2651-4172-b767-cfb47c5dd1ef
  3. 15 m/s speed ==> https://review.px4.io/plot_app?log=e7b53f4a-ae12-40c1-9293-435c01559f52

Please look at around 6:26 for 1, 3:08 for and 4:55 for 3, which is the moment when Vz is induced.

In 3, you will exactly see that the yaw_setpoint remains the same but the yaw_estimated significantly decreases which in result induces a deviation in yaw.

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.

Quadrotor Details:
X - configuration,
Using external compass,
EKF2 Estimator,
px4 : v1.11.2

Onboard Computer Details:
ROS melodic,
RPi 4B 8Gb

Thanks!