Josh

Hi, You console output is really wrong. What's the hardware that you are using, is it cuav v5+

Hmm, that's strange. I have tested the latest code with master branch, which is fine on my CUAV V5+ board. The correct output should be something like this:  Can...

> Oh, really? That make sense, I didn't aware of there are different version of CUAV V5+ hardware.

I think I find the reason. The cuav v5+ which has problem may has APM bootloader inside. So if you flash a PX4 bootloader it should work fine.

[px4fmuv5_bl.zip](https://github.com/Firmament-Autopilot/FMT-Firmware/files/9639880/px4fmuv5_bl.zip)

Good to know that my thesis helps! FYI, here is a test video I did before with ADRC: https://www.youtube.com/watch?v=77-_nF-qqpA&t=191s And the test code can be found here: https://github.com/JcZou/StarryPilot/blob/master/starry_fmu/Framework/source/Control/adrc_att.c In yours...

请确认是否按照正常流程进行了解锁动作，以及飞机的模式是否正常。具体请参考https://firmament-autopilot.github.io/FMT-DOCS/#/simulation/MIL