Offboard Control without sending setpoints

Hello all,

I recently started doing research using PX4 along with Pixhawk 4. My goal is to implement a new controller without using the built in PX4 Position, Attitude, and Rate controller and was wondering if Offboard mode can achieve this. From working with the example I understand that ros node has to send setpoints in order to switch into and maintain Offboard mode.

My question is has anyone looked into this problem of deploying their own control algorithm? And has anyone implemented Offboard control without sending setpoint values?

Any pointers or help is much appreciated.

Thanks for reading,