{"action":"created","issue":{"url":"https://api.github.com/repos/PX4/Firmware/issues/9621","repository_url":"https://api.github.com/repos/PX4/Firmware","labels_url":"https://api.github.com/repos/PX4/Firmware/issues/9621/labels{/name}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/9621/comments","events_url":"https://api.github.com/repos/PX4/Firmware/issues/9621/events","html_url":"https://github.com/PX4/Firmware/issues/9621","id":330841702,"node_id":"MDU6SXNzdWUzMzA4NDE3MDI=","number":9621,"title":"unstable PWM out","user":{"login":"jbourne15","id":10954148,"node_id":"MDQ6VXNlcjEwOTU0MTQ4","avatar_url":"https://avatars3.githubusercontent.com/u/10954148?v=4","gravatar_id":"","url":"https://api.github.com/users/jbourne15","html_url":"https://github.com/jbourne15","followers_url":"https://api.github.com/users/jbourne15/followers","following_url":"https://api.github.com/users/jbourne15/following{/other_user}","gists_url":"https://api.github.com/users/jbourne15/gists{/gist_id}","starred_url":"https://api.github.com/users/jbourne15/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jbourne15/subscriptions","organizations_url":"https://api.github.com/users/jbourne15/orgs","repos_url":"https://api.github.com/users/jbourne15/repos","events_url":"https://api.github.com/users/jbourne15/events{/privacy}","received_events_url":"https://api.github.com/users/jbourne15/received_events","type":"User","site_admin":false},"labels":[{"id":431515706,"node_id":"MDU6TGFiZWw0MzE1MTU3MDY=","url":"https://api.github.com/repos/PX4/Firmware/labels/more_info_needed","name":"more_info_needed","color":"d4c5f9","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":11,"created_at":"2018-06-09T01:29:01Z","updated_at":"2018-08-08T19:58:29Z","closed_at":null,"author_association":"NONE","body":"**Describe the bug**\nThe pwm signal out goes unstable for a quadcopter at a certain rc input in either manual and stabilized mode. \n\n**To Reproduce**\nSteps to reproduce the behaviour:\n1. Drone switched on (no props) and arm in stabilized or manual mode\n2. slow increase roll and pitch from rc. Instability appears when roll and pitch at some certain point see figure for example.\n3. See error by motor's going unstable and possible stopping due to motor sync.\n\n**Data log**\n![pwm_bad_close](https://user-images.githubusercontent.com/10954148/41186265-e18f476a-6b50-11e8-9442-7916fe42551f.jpg)\n\nThis figure shows the rc input (channels 0 and 1) and output (channels 0-3). Notice the instability around 98 seconds.  This data was logged through ROS at 50 hz.  \n\n\n**Drone setup**\n- px4 flight stack v1.7.3\n- airframe: dji matrice 100 \n- [pixhawk 3](https://drotek.com/shop/en/pixhawk-3-pro/821-pixhawk-pro-autopilot.html)\n- [MT4004 kv 300](http://store-en.tmotor.com/goods.php?id=438)\n- [20A spider esc 2-6cell oneshot125](http://www.michobby.com/product/ztw-spider-pro-premium-20a-hv-opto-2-6s-esc-electronic-speed-control-for-rc-multirotor/)\n- let me know if parameters or ROS bag fille would be useful and I'll upload.\n\n**Additional Content**\nThis problem is repeatable on different pixhawk 3s and different motors.  Also the imu data is stable."},"comment":{"url":"https://api.github.com/repos/PX4/Firmware/issues/comments/411532616","html_url":"https://github.com/PX4/Firmware/issues/9621#issuecomment-411532616","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/9621","id":411532616,"node_id":"MDEyOklzc3VlQ29tbWVudDQxMTUzMjYxNg==","user":{"login":"jbourne15","id":10954148,"node_id":"MDQ6VXNlcjEwOTU0MTQ4","avatar_url":"https://avatars3.githubusercontent.com/u/10954148?v=4","gravatar_id":"","url":"https://api.github.com/users/jbourne15","html_url":"https://github.com/jbourne15","followers_url":"https://api.github.com/users/jbourne15/followers","following_url":"https://api.github.com/users/jbourne15/following{/other_user}","gists_url":"https://api.github.com/users/jbourne15/gists{/gist_id}","starred_url":"https://api.github.com/users/jbourne15/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jbourne15/subscriptions","organizations_url":"https://api.github.com/users/jbourne15/orgs","repos_url":"https://api.github.com/users/jbourne15/repos","events_url":"https://api.github.com/users/jbourne15/events{/privacy}","received_events_url":"https://api.github.com/users/jbourne15/received_events","type":"User","site_admin":false},"created_at":"2018-08-08T19:58:29Z","updated_at":"2018-08-08T19:58:29Z","author_association":"NONE","body":"@mcsauder thanks for the responds, I ended up uploading to v1.8.0beta firmware and changing to the generic airframe (which I am pretty sure reset the parameters with lower gains for the attitude controllers). Been flying for about a month now and haven't seen this PWM instability issue again.  I am still curious if others can replicate this. "}}
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