I want to control the drone via /mavros/setpoint_raw/local or attitude

[ppoirier]

If I remember well, this issue has been resolved by @shubham-shahh here

Closed loop controllers for ardupilot

Hi, I am trying to use this repo, It uses mavros_controllers for the closed-loop control to make sure the MAV is following the path planned by the FAST planner but mavros_controllers are not working well with Ardupilot Firmware, more info on this issue can be found here I was wondering if there is native support for closed-loop control for ardupilot or does something similar to mavros_controllers exist for ardupilot? Thanks