Offboard mode in APM stack

ArduCopter
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1

Hello, Could someone clarify the Offboard mode in APM stack. I see some examples for offboard control of quad and is achieved in “OFFBOARD” mode in PX4. Is there something similar for APM? Thanks

2

hello, the equivalent is Guided mode on ardupilot

4

Hi Khancyr,GUIDED mode requires GPS. I am testing this indoors so I see there is GUIDED_NOGPS mode. But if I publish setpoint_attitude/att_throttle in GUIDED_NOGPS, the motors don’t change the speed. Any suggestions?

5

Hello,

currently you need to provide attitude and thrust on arducopter, see https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/GCS_Mavlink.cpp#L1250 , so you will need to use setpoint_raw and not setpoint_attitude/att_throttle that send only thrust