From c5d4138be8904047794f9418599c3873a5d7bfbc Mon Sep 17 00:00:00 2001 From: QiTao Weng <47102225+qtweng@users.noreply.github.com> Date: Sun, 24 Nov 2024 17:42:06 -0600 Subject: [PATCH 1/2] Update offboard docs with more details on direct actuator messages --- en/flight_modes/offboard.md | 1 + 1 file changed, 1 insertion(+) diff --git a/en/flight_modes/offboard.md b/en/flight_modes/offboard.md index 31eb0c25a491..c391d693ff81 100644 --- a/en/flight_modes/offboard.md +++ b/en/flight_modes/offboard.md @@ -122,6 +122,7 @@ The following offboard control modes bypass all internal PX4 control loops and s - [px4_msgs::msg::ActuatorMotors](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorMotors.msg) + [px4_msgs::msg::ActuatorServos](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorServos.msg) - You directly control the motor outputs and/or servo outputs. + - Currently works at lower level than mixer module. Do not publish these messages when not in offboard mode. - All the values normalized in \[-1, 1\]. For outputs that do not support negative values, negative entries map to `NaN`. - `NaN` maps to disarmed. From cb8953a6e8ff301441abe8473c38bb8ca21786e0 Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Mon, 2 Dec 2024 08:23:08 +1100 Subject: [PATCH 2/2] Update en/flight_modes/offboard.md Co-authored-by: Beniamino Pozzan --- en/flight_modes/offboard.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/en/flight_modes/offboard.md b/en/flight_modes/offboard.md index c391d693ff81..cdafe2bea8e5 100644 --- a/en/flight_modes/offboard.md +++ b/en/flight_modes/offboard.md @@ -122,7 +122,7 @@ The following offboard control modes bypass all internal PX4 control loops and s - [px4_msgs::msg::ActuatorMotors](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorMotors.msg) + [px4_msgs::msg::ActuatorServos](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorServos.msg) - You directly control the motor outputs and/or servo outputs. - - Currently works at lower level than mixer module. Do not publish these messages when not in offboard mode. + - Currently works at lower level than then `control_allocator` module. Do not publish these messages when not in offboard mode. - All the values normalized in \[-1, 1\]. For outputs that do not support negative values, negative entries map to `NaN`. - `NaN` maps to disarmed.