I’m trying to implement my custom control law (Geometric control) on a Navio2 w/Raspi3 using the mavros package.
I have been able to subscribe to different topics such as imu/data and rc/out but I have only been able to publish to rc/override. any other topics, specifically set-point topics such as setpoint_attitude and setpoint_raw are just not reacting.
I suspect that it has something to do with mode changes or specific pre-flight preliminaries.
maybe a cmd/takeoff command must be sent first ? is there a way of disabling this ?
I am testing on a propeller-less quad so maybe the issue is there ?
What have I tried:
changing flight modes to STABILIZE, GUIDED and GUIDED_NOGPS.
Setting SYSID_MYGCS to 1.