Hi everyone,
I am using ArduCopter 4.6.3 and operating in GUIDED_NOGPS mode using DroneKit-Python. I am sending attitude quaternion commands combined with a vertical velocity setpoint. The GUIDED_OPTION parameter is configured to handle vertical velocity correctly.
The Issue:
While I am commanding a constant vertical velocity of 12 m/s, the vertical velocity (Vz) feedback is oscillating significantly and fails to stabilize at the requested 12 m/s.
Upon analyzing the logs, I checked CTUN.DCRt (Desired Climb Rate) and CTUN.CRt (Climb Rate). Unexpectedly, CTUN.DCRt is not holding steady at the setpoint; it is fluctuating, and CTUN.CRt is tracking those fluctuations.
Since my command is providing a constant value, I am confused as to why the flight controller’s internal desired climb rate (DCRt) is oscillating.
Additional check:
I have also checked the motor PWM outputs to ensure they are not saturating (as I initially thought the autopilot might be scaling down commands due to a lack of thrust margin). However, in many of these tests, the PWM values are not saturated, yet the issue persists.
Has anyone encountered this behavior in GUIDED_NOGPS? An
y insights into why the controller might be overriding or perturbing the commanded vertical velocity would be appreciated.
Thanks for your help.
Log:
