Frequent aggresive wrong motion of quadrotor

[Seunghwan Jo]

Hi,
In the simulation,
it is often observed that quadrotor model follows trajectory undesirable way
that the vehicle flip towards wrong direction then return & starts to follow trajectory (See GIF below)

This easily can be observed especially when transitioning from stopped state(WAIT_TARGET) to executing new trajectory(EXEC_TRAJ) or rarely seen while following trajectory.

I'd like to know why and is this can easily be solved?

Thank you

P.S. Launch file & parameters are left untouched.

[Seunghwan Jo]

I'm very sorry. I have accidentally left issue to the wrong repository
It has to go to https://github.com/HKUST-Aerial-Robotics/Fast-Planner
Please remove this issue permanently.
https://help.github.com/en/github/managing-your-work-on-github/deleting-an-issue