Good morning everyone,
We were trying today lane switching using a Lua script for moving from a GPS position/compass yaw and a GPS postion/VIO yaw lane manually. Everything worked good, though we had some issues with the compass at the beginning, but we noticed something odd when we tried to take off in loiter mode. The drone rocks back and forth:
This is consistent with the logs, the curious thing is that when we switch back to altitude hold, the drone stops doing it as it can be seen in the log:
Notice the oscillations in loiter mode. Is this related with the ground effect compensation? It seems to me that the position control is commanding some attitude set-points in roll and pitch before the take-off actually happens. We are using a cubeOrange with 4.1.0-beta4 Firmware. Please find the log below.