[Bug] On Generic Standard Plane DShot mixing get called twice

[PetervdPerk-NXP]

Describe the bug

When configuring the autopilot to be in Generic Standard Plane the actuator outputs seemed to be glitchy. When putting the scope on the signal I noticed this.

As you can see shortly after DShot::Run() is called it get called a second time and then it operates @ 400Hz.

When using multicopter (MC) I don't see this behaviour

To Reproduce

Reset FMU, select "Generic Standard Plane" airframe.
In actuators select dshot, and set MAIN1 to Motor 1.
Then connect scope on the Pin and you see the double output

Expected behavior

A periodic pulse of the Dshot output without bursts

Screenshot / Media

No response

Flight Log

No response

Software Version

Main

Flight controller

V6X-RT

Vehicle type

Fixed Wing

How are the different components wired up (including port information)

No response

Additional context

No response

[dagar]

If you look at work_queue status how fast is the dshot module cycling?

[DronecodeBot]

This issue has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-sync-q-a-jan-22-2025/43384/7

[PetervdPerk-NXP]

Quadrotor multicopter, no glitching, single Dshot output motor 1

Work Queue: 13 threads                          RATE        INTERVAL
|__ 1) wq:rate_ctrl
|   |__ 1) control_allocator                789.8 Hz         1266 us
|   |__ 2) dshot                            789.8 Hz         1266 us
|   |__ 3) mc_rate_control                  789.8 Hz         1266 us
|   \__ 4) vehicle_angular_velocity         789.9 Hz         1266 us

Generic standard plane, glitching, single dshot motor 1

Work Queue: 13 threads                          RATE        INTERVAL
|__ 1) wq:rate_ctrl
|   |__ 1) control_allocator                789.7 Hz         1266 us
|   |__ 2) dshot                            789.7 Hz         1266 us
|   \__ 3) vehicle_angular_velocity         394.8 Hz         2533 us

Hm most likely I think it has to do with the different rates of dshot, control_allocator and vehicle_angular_velocity