Related to this request. The latest firmware seems to have some very picky requirements for inertia
Related to this request. The latest firmware seems to have some very picky requirements for inertia and friction to maintain stability. I’ve seen a few requests like this one pop up and have had the issue myself. I thought I had it tuned out using the estimator gains but in sim have had some unstable conditions pop up. It’s a bit of a head scratcher for me too. I’ve had to either disable friction or inertia completely as the only reliable way to fix it.
