I’m trying to enable offboard control for a drone using PX4 autopilot by sending target attitude setpoints but need a better understanding of PX4’s underlying urob topic pub/sub structure.
What module handles incoming mavlink commands for setting a target local position and broadcasts it over uorb to the mc position controller? Do uorb topics only hold one data struct at a time? Is the position control loop frequency just causing it to miss the setpoints that get overwritten in that case?
I’ve started flying in offboard mode by sending local position ned targets. It works, but I’m sending trajectory setpoints to the autopilot at 30 Hz and it appears to only get published internally to the position controller at 5 Hz.
Can I control the rates at which trajectory_setpoint and vehicle_local_position get published internally, and if so how?
Right now these appear to be the limits for broadcast frequencies of the following uorb topics:
trajectory_setpoint - 5 Hz (regardless of frequency I send)
vehicle_local_position - 10 Hz
vehicle_attitude - 20 Hz
vehicle_angular_velocity - 50 Hz
Are these expected values? Does this mean that offboard attitude control is limited to 20 Hz?