Jerky yaw motion of asctec quadrotors using asctec_hl_interface

asked 2016-09-23 13:27:42 -0500


I am having trouble figuring out why the quadrotor yaw motion is jerky, as in, the yaw motion is not smooth/continuous. I am using ctrl type = asctec_hl_comm::mav_ctrl::velocity as the command input type. The horizontal motion of the quadrotor is smooth. I have checked my code and the YAML config file but I'm still not sure what the problem is. Could anyone who has a similar problem provide insight and solution? Thanks. For the quadrotor states, I am using an external motion capture system.

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