Gain matrix effect

[xuyuteng1]

i implemented a simple NMPC in gazebo using your framework, when i fix the yaw, the MPC was capable of tracking a traj , but when i set the yaw along the traj, it crashed. i was wondering if this had something to do with the gain matrix, and how should i tune the matrix.
By the way, another simple question is that could you tell us the type of ESC in your experiment? and does it have to be ardupilot to get the rpm info, can PX4 does that?
Sorry for my rookie questiones, looking forward for your reply!

[li-haojia]

Sorry for the late reply.

Maybe you can try to decrease the attitude gain matrix (I am not sure whether it can work).

As for ESC, I use Holybro Tekko32 F4 4 in 1. We recommend using BLHeli32 with Bidirectional Dshot.

Currently, PX4 is developing the Bidirectional Dshot's feature PX4/PX4-Autopilot#20749. You can try it. But I recommend to use the ardupilot.