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main ← jonas-eschmann:offboard_setpoints
opened 01:23AM - 02 Apr 26 UTC
### Solved Problem
Fixes #26768
### Solution
This PR implements **Alterna… tive 1**
```
┌─────────────────┐
│ Custom Mode │
└─────────────┬───┘
│ register_ext_component_request.request_offboard_setpoints
┌─────────────┼──────────┐
│ Commander | │
│ ┌───────────▼────────┐ │
│ │ ModeManagement │ │
│ └────────────────────┘ │
└────────┬───────────────┘
│ vehicle_status.accepts_offboard_setpoints
▼
┌─────────────────┐ MAVLink: SET_POSITION_TARGET_LOCAL_NED
│ MavlinkReceiver │◀───────────────────────────────────────────
└────────┬────────┘
│ trajectory_setpoint
▼
┌─────────────────┐
│ Custom Mode │
└─────────────────┘
```
### Changelog Entry
For release notes:
```
Feature/Bugfix #26768 Allowing modes that use the external mode registration to receive offboard setpoints
```
### Alternatives
Approach | Pros | Cons
-- | -- | --
**[GrooveWJH PR](https://github.com/PX4/PX4-Autopilot/pull/26771)**: The Mavlink Receiver observes the external modes through the request topics | No modifications to vehicle status | The Mavlink receiver gets entangled with the mode registration
**Alternative 1**: `request_offboard_setpoints` in the external mode registration. This needs to be reflected in the `vehicle_status` because that is the main source determining the behavior of the `mavlink_receiver.cpp` | Cleanest long-term solution | adds flag to `vehicle_status`
**Alternative 2**: Make `mavlink_receiver.cpp` always emit `trajectory_setpoint` for external mode IDs | one-line fix | If there is ever an in-source mode that uses the external mode registration but also generates `trajectory_setpoint` itself, they could be conflicting. AFAIK currently only `mc_raptor` and `mc_nn_control` use the external mode registration from the inside and for external modes it does not matter anyways, so this is not an issue
I believe **Alternative 1** is the the right approach here. It unambiguously implements the forwarding while neither entangling `mavlink_receiver.cpp` with the mode registration (in contrast to **[GrooveWJH PR](https://github.com/PX4/PX4-Autopilot/pull/26771)**) nor adding assumptions about the `NAVIGATION_STATE_EXTERNAL{1-8}`
### Context
External modes like `mc_raptor` and `mc_nn_control` that use the external mode registration benefit greatly from being able to receive offboard setpoints via MAVLink
Users are requesting to use the Offboard API through MAVLink using custom modes. This blocks MAVROS/MAVLink users from using RAPTOR with external trajectory/attitude targets through standard Offboard messages.
TODO/BLOCKER : We need help reviewing the implementation
