Inspect (intermediate) output of controllers


can we inspect, either via QGroundControl, MAVLink, or mavros, any of the inputs/outputs of the documented controllers?

I would be interested in inspecting the output of the position controller/input to velocity controller v_sp.

Thank you for any feedback.



You can see some of it in the tuning tab in QGC. Otherwise, you can see all the data post flight in the ulog.

If you wanted to observe all uORB states in real-time you can consider using ROS 2 which connects directly to uORB: ROS 2 | PX4 User Guide