Update SET_POSITION_TARGET_LOCAL_NED

[TSC21]

It now supports sending yaw and yaw rates through the msg. Then needs to receive also angular.z from TwistStamped msg for rate or a yaw heading (maybe from a conversion from a quaternion coming from a PoseStamped msg).

[vooon]

This task require mavlink package update (already done). Wait update.

[TSC21]

There's just a little thing that as to be done: since we now have the option to send the yaw (the raw angle or a rate), we have to set a parameter for the setpoint plugins where it's given the option to send or the raw angle or the yaw rate, since in the PX4 firmware the type of offboard control can't be multiple, i.e., can't be setpoint attitude and setpoint velocity at the same time. That's why they opened the option to use yaw control in the SET_POSITION_TARGET_LOCAL_NED message.

In this message, or we send raw yaw angle, setting the yaw rate ignore bit, or we send the yaw rate (which is of my interest given the controller I have), setting the raw yaw angle ignore bit.

Can you please add a use_yaw_rate parameter to the code of the setpoints and add this option of choosing which type of yaw control to use?
Thanks!

[vooon]

Check the code! I add sending yaw where i know it and ignore at other types.

[TSC21]

Check the code! I add sending yaw where i know it and ignore at other types.

I saw it. But you can also send yaw rate with setpoint position and yaw angle with setpoint velocity. It really depends on the type of controller you have, as position and velocity setpoints are independent of the yaw control.

[TSC21]

But yeah, considering as is you can let it that way. Adding both options to vel and pos setpoints will oblige to add a subscription to more topics.