Hello. I’m implementing a ROS2 offboard control package to fly a dev drone running PX4 (v1.14). I have it set up so that I publish offboard_control_mode messages with the position flag set true and publish trajectory_setpoint messages with just position setpoints (all other fields set to NAN) unti…

This is still a problem on updated firmware. Someone please address this. Using the same firmware to run px4_sitl this issue is non-existent when running in gazebo, but on the real quad something is generating a z velocity setpoint >= 1.0 that is getting clamped to 1.0m/s that az setpoints have to…

@jmltorch I dont think pure acceleration setpoints via trajectory_setpoints are supported.

I’ve read through the multicopter position controller source code and can’t find any reason it wouldn’t work. It should just skip the position and velocity control loops. It shouldn’t fail the valid input check. I’ve rediscovered this issue while trying to implement an external adaptive controller…

Verified, acceleration setpoint only based control is supported. I found out what’s causing the issue, but I don’t know why it’s happening and it appears platform specific, but I’m sure it could affect other platforms depending on the actual root cause. In the multicopter position controller code …

Yes, I have verified that the Hexagon compiler generates NaN comparison code that can give an incorrect result. A short term fix for this issue in the math library has been submitted for inclusion into the 1.18 release. The 1.18 release is intended to be the replacement for the ModalAI fork. fix(mat…

ROS2 Offboard - Transitioning from Position to Acceleration Setpoints

ROS 1 / ROS 2

jmltorch March 27, 2025, 6:33pm 2

I should add that I ran the offboard control package with px4_sitl in gazebo and it performs perfectly. I’m using a modalai sentinel drone w/ sdk1.1.2. The PX4 fork I’m using is here:

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ROS2 Offboard - Transitioning from Position to Acceleration Setpoints

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