I am currently working on doing some system identification for a custom UAV I have built and I need data to do so, specifically my inputs and outputs of the system. Inputs being the thrust and torque setpoints, outputs being position and attitude.
I am flying my UAV using offboard control with ROS2 foxy and the uXRCE_dds_client with an onboard companion computer and a Vicon system for GPS. This offboard control code is publishing to the vehicle_attitude_setpoint topic.
I can easily record the values for thrust setpoint since I am writing to them directly, as well as position and attitude thanks to the vicon. But recording what PX4’s generic attitude controller is setting the torque setpoint to is a mystery to me.
Is there any way for me to see and record the torque setpoint?
Thanks