Hello, I am using the PX4 v1.15.0 firmware. I am trying to add additional behaviour to my drone by using offboard mode and publishing offboard_control_mode and trajectory_setpoint messages from my module inside PX4. The drone needs to operate in environments without GPS or a velocity estimate, so I…

Here I made a pr based on our discussion in the dev call: Fix: Allow offboard acceleration control with only attitude and no horizontal velocity estimate PX4:main ← PX4:offboard-acceleration-depend-on-attitude …

@Benja Is this something you can advise on?

Why did you set ocm.velocity = false; while commanding z velocity?

Thanks @hamishwillee for pinging this. @ra1nyu I think it worth rising your point (removing velocity requirement when using offboard acceleration setpoints) at the next community meeting. I too don’t see a reason having that check. @Mohan_Dasari , the OffboardControlMode flags pos, vel, acc are on…

Thanks for the replies everyone. Yes, I realized that the offboard control mode message was only used for checking the feasibility of the mode in the commander, that’s why I thought whether the velocity and acceleration flags were set or not didn’t matter. But I tried setting both of them to false …

Thanks @MaEtUgR the code looks good to me. I will give it a test in SITL to see if it behaves as I expect.

Why does acceleration control in offboard mode need velocity estimate?

PX4 Autopilot

Benja December 4, 2024, 8:39am 6

Yes, those ones: here is today’s link PX4 Sync / Q&A: Dec 4, 2024

Topic		Replies	Views
Offboard control with Attitude and Velocity or Position for Z control MAVSDK	19	3249	October 13, 2019
PX4 Dev Call: March 04, 2020 PX4 Autopilot	0	692	February 26, 2020
PX4 Dev Call: February 26, 2020 PX4 Autopilot	0	516	February 19, 2020
PX4 Dev Call: November 20, 2019 PX4 Autopilot	0	730	November 13, 2019
PX4 Dev Call: March 11, 2020 PX4 Autopilot	0	895	March 4, 2020

Why does acceleration control in offboard mode need velocity estimate?

Related topics