Questions regarding trimming
This is Prashant and I am running rosflight on the Flip32 board controlling a Y6. I have the following questions:
1) Since the battery is the heaviest component in my vehicle, my trims are a function of battery placement. I had initially set the trims the first time after building it (the trims were huge) and it worked fine. What I am concerned about is, if I trim again I think the firmware rewrite over the old trims instead of adding to the old ones. This is a problem because my first trim values were huge and my second iteration was not big and when I set it again it rewrote over the old values and made flying really difficult. Could you please clarify on how this works?
2) I am trying to feed in attitude commands to the controller using the /command topic. I think that, when the mixer converters it to motor commands, it add the trim values too. When I give the commands, I loose control authority on axes which have some trim on them. Once I set the trim back to zero, I gain full control. Something tells me this should not work this way and I have a feeling that the trims should not be added to the computer generated commands.