I am connected to the SITL and trying to control my vehicle in stabilize mode using the MANUAL_CONTROL (#69) message.
I have queried the MOT_THST_HOVER parameter and it has a value of 0.4088680. If I takeoff and switch to stabilized mode with the Z field of MANUAL_CONTROL set to 409 (roughly MOT_THST_HOVER x 1000), the simulated vehicle will rapidly lose altitude. Setting the Z field to roughly 500 will keep the vehicle hovering.
The MOT_THST_HOVER value seems to have converged at 0.4088680, so it doesn’t seem like the autopilot needs more flight time to learn the value.
Conceptually, I am trying to find value for the Z field in the MANUAL_CONTROL so that the vehicle doesn’t drastically change altitude when switching into stabilize mode, but it seems that commanding Z to MOT_THST_HOVER isn’t the right solution here. How should I find this hover thrust?
Thanks in advance!