Use of Offboard API in SITL and HITL

PX4 Autopilot Configuration & Flight Modes ⚙️
1

Hello all,

I am a newbie to this field and is stuck in SITL and HITL using Gazebo. My question is what is the exact function of the OffBoard API like MAVROS/MAVSDK being used by PX4 in SITL/HITL?
Also are these API needed for real world flying of the Quadrotor?

For reference please see this High level diagram for SITL https://dev.px4.io/master/en/simulation/#simulator-mavlink-api
https://dev.px4.io/master/en/simulation/ros_interface.html

2

You can send position or velocity setpoints from ROS (I am not familiar with the Mavsdk but I would assume it’s the same). Offboard mode is available both in simulation and real world flying.

3

Okay, so is Offboard API used for offboard mode navigation? If yes then what the use of QGC in this mode?

4

You can switch into the mode, arm, change mode, check the RC. I guess all the things you usually do with QGC a part from mission planning

5

I see. So if I do not want to use offboard mode then can I skip using this Offboard API? Will it create any problem with manual and mission mode through QGC if I stop using this API ?

6

Offboard mode is only used to receive and track setpoints from a companion computer.
All the other modes, e.g. manual and mission, do not require a companion computer and the setpoint generation is completely handled on the Flight Controller side.

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