Another hi-jack: setpoint_accel/accel

Send acceleration setpoint.

Subscribed Topics

~setpoint_accel/accel(geometry_msgs/Vector3Stamped)

Acceleration or force setpoint vector.

PX4

vehicle_force_setpoint.msg

# Definition of force (NED) setpoint uORB topic. Typically this can be used
# by a position control app together with an attitude control app.


float32 x        # in N NED
float32 y        # in N NED
float32 z        # in N NED
float32 yaw        # right-hand rotation around downward axis (rad, equivalent to Tait-Bryan yaw)

MAVROS plugin

https://github.com/mavlink/mavros/blob/master/mavros/src/plugins/setpoint_accel.cpp

NOTE

Need to adjust code in mavlink_receiver.cpp and mavlink_receiver.h

offboard_control_mode.ignore_acceleration_force = (bool)(set_position_target_local_ned.type_mask & 0x1C0);