I am working on a twin-motor plane and trying to tune the ground steering. Since ground steering works by modifying rudder inputs, it also affects differential thrust. In my case, this led to an unwanted behavior: if the yaw input is large, the ground steering output can exceed the rudder mix output. This can cause a situation where, for example, the plane rolls to the right while yaw is commanded to the left, resulting in the left motor spinning faster than the right one—or vice versa. This wouldn’t happen without ground steering and leads to a torque from the wing, which destabilizes the aircraft.
I’m not entirely sure if my reasoning is correct—perhaps this behavior could be avoided with proper parameter tuning, or maybe there’s a flaw in my logic. I’m open to corrections or suggestions, but I feel like this issue should be avoidable.