I’m looking for better understanding of GUIDED_noGPS mode. I have written a code for GUIDED_noGPS mode for Ardu V3.6.2. Here are the following doubts:
It came to my understanding that in order to control yaw of drone,we have yaw angle and yaw_rate. But while performing SITL, I see that yaw angle is kind of a dummy value and yaw could be turned only using yaw_rate. But in case roll and pitch, we have proper control on both and it is independent of roll_rate and pitch_rate. Is there any way to just control angles ?
Next thing is regarding mode switching from GUIDED_noGPS mode to ALT_HOLD mode. I wrote command to change mode if I rc 7 is >1800. After switching mode, the pitch and roll values are increasing, while give command “rc all 0”. Any hints on why this happens.
I hope you guys can help me to solve this weird problem. Have attached log files for it
00000119.BIN (120 KB)