I am using ROS + Gazebo + Arducopter SITL to run UAV simulations. Currently I control the uav by publishing AttitudeTarget messages with type_mask set on 7 (which ignores body rate commands).
I would like to control the UAV through a combination of body rates and thrust. However, in the documentation for SET_ATTITUDE_TARGET it says that body rate control is not supported.
I tried publishing AttitudeTarget messages with type_mask on 0 (nothing is ignored) / 128 (attitude is ignored) and body rates are indeed not being controlled.
The only mode which supports body rate control is ACRO mode. However, attitude setpoint messages are only considered in GUIDED or GUIDED_NOGPS mode and completely ignored in ACRO mode.
Any help is greatly appreciated.