Three OFFBOARD modes ?

[weiweikong]

Hi, the introduction part mentioned that we should configure the RC switches for OFFBOARD-MANUAL, OFFBOARD-ALTCTL, and OFFBOARD-POSCTL.

After checking PX4 Flight Mode and the vehicle_control_mode.msg file, I am still confusing with these three above OFFBOARD modes.

In my experience, there is only one OFFBOARD mode, which I usually set the Chanel 8 for it.

• Are these OFFBOARD-MANUAL, -ATLCTL and -POSCTL modes similar to the general ATLCTL, POSCTL and MANUAL mode?
• Which parameters or flags are relate to these three OFFBOARD modes?

Would it be possible to share some more information?

[edkoch]

Hello,

The vis_pose_test program does two things. First it sends vision pose data to the PX4 so that it knows where it is located with respect to some target or marker. The other thing it does is offboard control by sending setpoints to the PX4. The vis_pose_test program can read the switch positions on the RC controller and switch between different flight modes. This is very similar to what the PX4 sw does, i.e read the RC controller switches and switch between different flight modes. The offboard flight modes and the onboard flight modes are designed to work the same way, but the PX4 implements the onboard flight modes and the vis_pose_test program implements the offboard flight modes by sending setpoints to the PX4 while it is in offboard mode. You are correct in that there is only one offboard mode in the PX4, but when you are in offboard mode you can send different types of setpoints to the PX4 and do different types of control. When in OFFBOARD-MANUAL mode the vis_pose_test program sends attitude setpoints to the px4 and while it is in OFFBOARD-ALTCTL and OFFBOARD-POSCTL mode the vis_pose_test program sends position setpoints to the PX4. Thus you can look at the code in controller.cpp if you want to see how to do different types of offboard control and look at locator.cpp if you want to see how to do offboard localization.

As discussed in the RC radio section you should configure your RC controller to use three different switches. One is to switch between on board and off board mode. One is to set up MANUAL. ALTCTLand POSCTL modes on the PX4. The other is to set up the MANUAL, ALTCTL, and POSCTL modes while you are in offboard mode.

Hope this helps.

-ed koch

On Sep 26, 2015, at 2:16 PM, Weiwei notifications@github.com wrote:

Hi, the introduction part mentioned that we should configure the RC switches for OFFBOARD-MANUAL, OFFBOARD-ALTCTL, and OFFBOARD-POSCTL.

After checking PX4 Flight Mode https://pixhawk.org/users/system_modes and the vehicle_control_mode.msg file, I am still confusing with these three above OFFBOARD modes.

In my experience, there is only one OFFBOARD mode, which I usually set the Chanel 8 for it.

Are these OFFBOARD-MANUAL, -ATLCTL and -POSCTL modes similar to the general ATLCTL, POSCTL and MANUAL mode?
Which parameters or flags are relate to these three OFFBOARD modes?
Would it be possible to share some more information?

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