Px4-autopilot: Yawrate in Offboard Stopped Working

[Pedro-Roque]

Describe the bug
Yawrate commands sent through mavros/setpoint_raw/attitude as bodyrates in Z, with appropriate mask, stopped working.

To Reproduce
Steps to reproduce the behavior:

1. Drone switched on
2. Publish a command on mavros/setpoint_raw/attitude with a yawrate and correct mask
3. The vehicle does not respond to yawrate commands

Expected behavior
The vehicle should rotate according to the bodyrate Z command

Log Files and Screenshots
Here goes a folder with 2 rosbags and the flight logs:
https://drive.google.com/open?id=1jufiucPZ2O7UPZHpCZfKG8gnDEj1XmIC

Drone (please complete the following information):

• Hover 1 Frame
• Pixhawk Radiolink, with v3 bootloader and v1.9.2 stable

Additional context
Recorded on a MoCap enabled arena at KTH Smart Mobility Lab.

[Pedro-Roque]

@Jaeyoung-Lim @mhkabir @MaEtUgR

[Pedro-Roque]

Update: in SITL, with IRIS, it checks out fine, that is, the system responds as expected!

I am using the Generic Quadrotor X frame. Something I should be careful with? Maybe I should change the yaw gain?

EDIT: tested on latest master, not the stable version.
EDIT2: tried to test SITL, but get compass #0 uncalibrated immediately once I try to arm the vehicle.
I will try to flash the latest master and check how it behaves.
EDIT3: @TSC21 the error regarding ODOM and unconnected trees does not show up in master either, so maybe there is some problem there?

[Pedro-Roque]

Update: Flying with master does not show the issue! Just successfully flied with mas flashed without any problems. Maybe there was something missing on the v1.9.2 stable...

Anyhow, I will follow @dagar 's suggestion and add a test for this next week - hopefully before next release.

EDIT: The successful flight log is on the same google drive, under working-master.

[MaEtUgR]

tried to test SITL, but get compass #0 uncalibrated immediately once I try to arm the vehicle.

Do a make clean if that happens with SITL, it's an incompatibility of the configuration that requires rebuilding after switching the branch across a certain point.

[Pedro-Roque]

Will do, next week though! :)

[Jaeyoung-Lim]

@Pedro-Roque Any updates?

[Pedro-Roque]

@Jaeyoung-Lim not yet but not forgotten. Just need to finish some stuff on my research and then will look into this.

[stale[bot]]

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

[julianoes]

Bump :smile:

[Pedro-Roque]

Not forgotten @julianoes ! I'm just trying to dodge deadlines these days, but I'll come back to this as soon as I can

[stale[bot]]

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

[Pedro-Roque]

Issue fixed and tests added. Closing