# Offboard Mode (Generic/All Frames) :::: warning Offboard control with ROS 2 requires _significant care_ to ensure that it is used safely. Please read [ROS 2 Offboard Control](#ros-2-offboard-control) carefully to fully understand the risks involved when using it. A good understanding of [PX4 controller diagrams](../flight_stack/controller_diagrams.md) is advised. :::tip [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) provides a safer alternative. ::: :::: Апарат зберігає данні про положення, швидкість, прискорення, орієнтацію, значення сили тяги, відповідно заданим значенням, наданим деяким джерелом, зовнішнім по відношенню до польотного контролера, наприклад комп’ютером. The setpoints may be provided using MAVLink (or a MAVLink API such as [MAVSDK](https://mavsdk.mavlink.io/)) or by [ROS 2](../ros2/index.md). PX4 requires that the external controller provides a continuous 2Hz "proof of life" signal, by streaming any of the supported MAVLink setpoint messages or the ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) message. PX4 enables switching to offboard control mode only after receiving the signal for more than a second, and will failsafe (controlled by [COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT)) if the signal stops. ::: info - This mode requires position or pose/attitude information - e.g. GPS, optical flow, visual-inertial odometry, mocap, etc. depending on the type of offboard setpoints that the external controller sends. - Manual control is disabled except to change modes (you can also fly without any manual controller at all by setting the parameter [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) to `4: Disable manual control`). - The vehicle must already be receiving a stream of MAVLink setpoint messages or ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) messages before arming in offboard mode or switching to offboard mode when flying. - The vehicle will exit offboard mode if MAVLink setpoint messages or `OffboardControlMode` are not received at a rate of > 2Hz. - Не всі значення координат та параметрів, дозволені MAVLink підтримуються для усіх повідомлень та транспортних засобів. Read the sections below _carefully_ to ensure only supported values are used. ::: ## Опис Режим офборду використовується для керування транспортним засобом, встановленням положення, швидкості, прискорення, відносним положенням або індексом тяги/заданими значеннями крутного моменту. PX4 must receive a stream of MAVLink setpoint messages or the ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) at 2 Hz as proof that the external controller is healthy. Потік повинен бути відправлений як мінімум за секунду, перш ніж PX4 буде задіяно в режимі офборду, або переключено на режим офборду при польоті. If the rate falls below 2Hz while under external control PX4 will switch out of offboard mode after a timeout ([COM_OF_LOSS_T](#COM_OF_LOSS_T)), and attempt to land or perform some other failsafe action. The action depends on whether or not RC control is available, and is defined in the parameter [COM_OBL_RC_ACT](#COM_OBL_RC_ACT). При використанні MAVLink повідомлення передають обидва сигнали, щоб вказати, що зовнішнє джерело є "живим" і значення має цінність. Для того, щоб утримувати позицію в даному випадку, апарат повинен отримати потік заданих точок для поточного положення. When using ROS 2 the proof that the external source is alive is provided by a stream of [OffboardControlMode](../msg_docs/OffboardControlMode.md) messages, while the actual setpoint is provided by publishing to one of the setpoint uORB topics, such as [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md). In order to hold position in this case the vehicle must receive a stream of `OffboardControlMode` but would only need the `TrajectorySetpoint` once. Зверніть увагу, що офборд режим підтримує дуже обмежений набір команд MAVLink і повідомлень. Операції, як-от зліт, посадка, повернення на місце запуску, можуть найкраще бути виконаними з використанням відповідних режимів. Операції такі як завантаження, місії можуть бути виконані в будь-якому режимі. ## ROS 2 Offboard Control This section describes how to perform offboard control through one of the direct ROS 2 interfaces: UXRCE-DDS or Zenoh. When using direct ROS 2 offboard control, PX4 setpoint messages generated by external controllers are injected into the [PX4 control pipeline](../flight_stack/controller_diagrams.md). Because messages from internal and external controllers are indistinguishable within PX4, precise synchronization is required in order to avoid the controllers writing conflicting messages to the same topic. In Offboard mode (only), an external system can use [`OffboardControlMode`](#the-offboardcontrolmode-px4-message) to specify which setpoint topics PX4 should publish/not publish, allowing them to be written safely by an external controller. ::: warning PX4 has no means of filtering and distinguishing ROS 2 messages from internal messages, in any mode. In order to interwork safely, the external controller must: - Publish PX4 setpoint messages **ONLY** in Offboard mode. - Specify which setpoints it will write using the `OffboardControlMode` topic. - Stream the `OffboardControlMode` topic as a keep-alive signal. - Stream the setpoints it wants: unlike with MAVLink, PX4 won't trigger a failsafe if setpoints aren't sent regularly. If external setpoints are sent in any other flight mode, or they overwrite topics that have not been disabled by PX4 when in offboard mode, collisions are likely. This will result in unexpected, and possibly catastrophic, behaviour. ::: ### The `OffboardControlMode` PX4 message Наступні повідомлення ROS 2 та їх конкретні поля та значення полів допускаються для вказаних кадрів. In addition to providing heartbeat functionality, `OffboardControlMode` has two other main purposes: 1. Controls which internal PX4 control modules of the [PX4 control architecture](../flight_stack/controller_diagrams.md) shall remain active and which ones shall be disabled when the vehicle is in Offboard Mode. 2. Determines which valid estimates (position, velocity, etc.) are required. The `OffboardControlMode` message is defined as shown. ```sh # Off-board control mode uint64 timestamp # time since system start (microseconds) bool position bool velocity bool acceleration bool attitude bool body_rate bool thrust_and_torque bool direct_actuator ``` :::warning The following list shows the `OffboardControlMode` options for copter, fixed-wing, and VTOL. For rovers see the [rover section](#rover). ::: The fields are ordered in terms of priority such that `position` takes precedence over `velocity` and later fields, `velocity` takes precedence over `acceleration`, and so on. Перше поле, яке має ненульове значення (зверху вниз), визначає, яка допустима оцінка необхідна для використання режиму безпілотного керування, а також повідомлення заданих значень, які можуть бути використані. For example, if the `acceleration` field is the first non-zero value, then PX4 requires a valid `attitude estimate`, and the setpoint must be specified using the `TrajectorySetpoint` message. | бажана кількість контролю | поле положення | поле швидкості | поле прискорення | поле орієнтації | поле кутової швидкості тіла | поле тяги та крутного момент | поле прямого приводу | необхідна оцінка | необхідне повідомлення | | ----------------------------------------------- | -------------- | -------------- | ---------------- | --------------- | --------------------------- | ---------------------------- | -------------------- | ---------------- | ------------------------------------------------------------------------------------------------------------------------------- | | положення (NED) | ✓ | - | - | - | - | - | - | положення | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) | | швидкість (NED) | ✗ | ✓ | - | - | - | - | - | швидкість | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) | | прискорення (NED) | ✗ | ✗ | ✓ | - | - | - | - | attitude | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) | | орієнтація (FRD) | ✗ | ✗ | ✗ | ✓ | - | - | - | attitude | [VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md) | | кутова швидкість (FRD) | ✗ | ✗ | ✗ | ✗ | ✓ | - | - | angular velocity | [VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md) | | тяга та крутний момент (FRD) | ✗ | ✗ | ✗ | ✗ | ✗ | ✓ | - | нічого | [VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md) and [VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md) | | двигуни та серво | ✗ | ✗ | ✗ | ✗ | ✗ | ✗ | ✓ | нічого | [ActuatorMotors](../msg_docs/ActuatorMotors.md) and [ActuatorServos](../msg_docs/ActuatorServos.md) | where ✓ means that the bit is set, ✘ means that the bit is not set and `-` means that the bit value is irrelevant. :::info Before using offboard mode with ROS 2, please spend a few minutes understanding the different [frame conventions](../ros2/user_guide.md#ros-2-px4-frame-conventions) that PX4 and ROS 2 use. ::: In the following, the different setpoint messages for the main supported airframes are explained. For fixed-wing offboard control, please refer to the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md). ### Мультикоптери - [px4_msgs::msg::TrajectorySetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg) - Підтримуються наступні вхідні комбінації: - Position setpoint (`position` different from `NaN`). Non-`NaN` values of velocity and acceleration are used as feedforward terms for the inner loop controllers. - Velocity setpoint (`velocity` different from `NaN` and `position` set to `NaN`). Non-`NaN` values of acceleration are used as feedforward terms for the inner loop controllers. - Acceleration setpoint (`acceleration` different from `NaN` and `position` and `velocity` set to `NaN`) - All values are interpreted in NED (North, East, Down) coordinate system and the units are `[m]`, `[m/s]` and `[m/s^2]` for position, velocity and acceleration, respectively. ::: warning Position, velocity and acceleration control for multicopters are all handled by the `mc_pos_control` module. This module is enabled if any of `position`, `velocity` and `acceleration` fields are set to true. However, only the content of the `TrajectorySetpoint` messages determines which of the three controllers shall run. This means that even if `OffboardControlMode` messages carry the intention of velocity control (only `velocity` field is set) but non-`NaN` position values are sent in the `TrajectorySetpoint` messages, then PX4 will keep running the position controller. ::: - [px4_msgs::msg::VehicleAttitudeSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg) - Підтримується наступна комбінація введення: - quaternion `q_d` + thrust setpoint `thrust_body`. Non-`NaN` values of `yaw_sp_move_rate` are used as feedforward terms expressed in Earth frame and in `[rad/s]`. - Кватерніон представляє обертання між корпусом дрона у системі координат FRD (перед, праворуч, вниз) та системою координат NED. Тяга у корпусі дрона виражена у системі координат FRD та у нормалізованих значеннях. - [px4_msgs::msg::VehicleRatesSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleRatesSetpoint.msg) - Підтримується наступна комбінація введення: - `roll`, `pitch`, `yaw` and `thrust_body`. - Всі значення подані в для дрона в системі FRD. The rates are in `[rad/s]` while thrust_body is normalized in `[-1, 1]`. ### Ровер Rover modules must set the control mode using `OffboardControlMode` and use the appropriate messages to configure the corresponding setpoints. The approach is similar to other vehicle types, but the allowed control mode combinations and setpoints are different: | Category | Використання | Setpoints | | -------------------------------------------------------------------------------------- | ----------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | (Recommended) [Rover Setpoints](#rover-setpoints) | General rover control | [RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md), [RoverSpeedSetpoint](../msg_docs/RoverSpeedSetpoint.md), [RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md), [RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md), [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md), [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) | | [Actuator Setpoints](#actuator-setpoints) | Direct actuator control | [ActuatorMotors](../msg_docs/ActuatorMotors.md), [ActuatorServos](../msg_docs/ActuatorServos.md) | | (Deprecated) [Trajectory Setpoint](#deprecated-trajectory-setpoint) | General vehicle control | [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) | #### Rover Setpoints The rover modules use a hierarchical structure to propagate setpoints: ![Rover Control Structure](../../assets/middleware/ros2/px4_ros2_interface_lib/rover_control_structure.svg) The "highest" setpoint that is provided will be used within the PX4 rover modules to generate the setpoints that are below it (overriding them!). With this hierarchy there are clear rules for providing a valid control input: - Provide a position setpoint **or** - One of the setpoints on the "left" (speed **or** throttle) **and** one of the setpoints on the "right" (attitude, rate **or** steering). All combinations of "left" and "right" setpoints are valid. The following are all valid setpoint combinations and their respective control flags that must be set through [OffboardControlMode](../msg_docs/OffboardControlMode.md) (set all others to _false_). Additionally, for some combinations we require certain setpoints to be published with `NAN` values so that the setpoints of interest are not overridden by the rover module (due to the hierarchy above). ✓ are the relevant setpoints we publish, and ✗ are the setpoint that need to be published with `NAN` values. | Setpoint Combination | Control Flag | [RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md) | [RoverSpeedSetpoint](../msg_docs/RoverSpeedSetpoint.md) | [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md) | [RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md) | [RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md) | [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) | | -------------------- | ----------------------------------------------------------- | ------------------------------------------------------------- | ------------------------------------------------------- | ------------------------------------------------------------- | ------------------------------------------------------------- | ----------------------------------------------------- | ------------------------------------------------------------- | | Положення | положення | ✓ | | | | | | | Speed + Attitude | швидкість | | ✓ | | ✓ | | | | Speed + Rate | швидкість | | ✓ | | ✗ | ✓ | | | Speed + Steering | швидкість | | ✓ | | ✗ | ✗ | ✓ | | Throttle + Attitude | attitude | | | ✓ | ✓ | | | | Throttle + Rate | body_rate | | | ✓ | | ✓ | | | Throttle + Steering | thrust_and_torque | | | ✓ | | | ✓ | :::info If you intend to use the rover setpoints, we recommend using the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) instead since it simplifies the publishing of these setpoints. ::: #### Actuator Setpoints Instead of controlling the vehicle using position, speed, rate and other setpoints, you can directly control the motors and actuators using [ActuatorMotors](../msg_docs/ActuatorMotors.md) and [ActuatorServos](../msg_docs/ActuatorServos.md). In [OffboardControlMode](../msg_docs/OffboardControlMode.md) set `direct_actuator` to _true_ and all other flags to _false_. :::info This bypasses the rover modules including any limits on steering rates or accelerations and the inverse kinematics step. We recommend using [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) and [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md) instead for low level control (see [Rover Setpoints](#rover-setpoints)). ::: #### (Deprecated) Trajectory Setpoint :::warning The [Rover Setpoints](#rover-setpoints) are a replacement for the [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) and we highly recommend using those instead as they have a well defined behaviour and offer more flexibility. ::: The rover modules support the _position_, _velocity_ and _yaw_ fields of the [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md). However, only one of the fields is active at a time and is defined by the flags of [OffboardControlMode](../msg_docs/OffboardControlMode.md): | Control Mode Flag | Active Trajectory Setpoint Field | | ----------------- | -------------------------------- | | положення | положення | | швидкість | швидкість | | attitude | yaw | :::info Ackermann rovers do not support the yaw setpoint. ::: ### Універсальний апарат Наступні режими керування з відбором оминуть всі внутрішні контрольні системи PX4 і повинні використовуватися з великою обережністю. - [px4_msgs::msg::VehicleThrustSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleThrustSetpoint.msg) + [px4_msgs::msg::VehicleTorqueSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleTorqueSetpoint.msg) - Підтримується наступна комбінація введення: - `xyz` for thrust and `xyz` for torque. - Усі значення виражені у системі координат тіла дрона FRD та нормалізовані у діапазоні \[-1, 1\]. - [px4_msgs::msg::ActuatorMotors](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg) + [px4_msgs::msg::ActuatorServos](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg) - Ви безпосередньо керуєте вихідними сигналами моторів та/або сервоприводів. - All the values normalized in `[-1, 1]`. For outputs that do not support negative values, negative entries map to `NaN`. - `NaN` maps to disarmed. ## MAVLink Offboard Control Наступні повідомлення MAVLink та їх конкретні поля та значення полів дозволені для вказаних кадрів літального апарату. ### Коптер/ВТОЛ - [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED) - The following input combinations are supported: - Position setpoint (only `x`, `y`, `z`) - Velocity setpoint (only `vx`, `vy`, `vz`) - Acceleration setpoint (only `afx`, `afy`, `afz`) - Position setpoint **and** velocity setpoint (the velocity setpoint is used as feedforward; it is added to the output of the position controller and the result is used as the input to the velocity controller). - Position setpoint **and** velocity setpoint **and** acceleration (the velocity and the acceleration setpoints are used as feedforwards; the velocity setpoint is added to the output of the position controller and the result is used as the input to the velocity controller; the acceleration setpoint is added to the output of the velocity controller and the result used to compute the thrust vector). - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) and [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED). - [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT) - The following input combinations are supported: - Position setpoint (only `lat_int`, `lon_int`, `alt`) - Velocity setpoint (only `vx`, `vy`, `vz`) - _Thrust_ setpoint (only `afx`, `afy`, `afz`) ::: info Acceleration setpoint values are mapped to create a normalized thrust setpoint (i.e. acceleration setpoints are not "properly" supported). ::: - Position setpoint **and** velocity setpoint (the velocity setpoint is used as feedforward; it is added to the output of the position controller and the result is used as the input to the velocity controller). - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT). - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) - Підтримуються наступні вхідні комбінації: - Attitude/orientation (`SET_ATTITUDE_TARGET.q`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`). - Body rate (`SET_ATTITUDE_TARGET` `.body_roll_rate` ,`.body_pitch_rate`, `.body_yaw_rate`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`). ### Літак з фіксованим крилом - [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED) - The following input combinations are supported (via `type_mask`): - Position setpoint (`x`, `y`, `z` only; velocity and acceleration setpoints are ignored). - Specify the _type_ of the setpoint in `type_mask` (if these bits are not set the vehicle will fly in a flower-like pattern): ::: info Some of the _setpoint type_ values below are not part of the MAVLink standard for the `type_mask` field. ::: Значення: - 292: планування.Це налаштовує TECS на пріорітезацію швидкості над висотою, щоб змусити безпілотник планувати, коли немає тяги (тобто кут крену контролюється для регулювання швидкості). It is equivalent to setting `type_mask` as `POSITION_TARGET_TYPEMASK_Z_IGNORE`, `POSITION_TARGET_TYPEMASK_VZ_IGNORE`, `POSITION_TARGET_TYPEMASK_AZ_IGNORE`. - 4096: Точка взльоту. - 8192: Точка посадки. - 12288: Задання Loiter (політ по колу, центрованому на заданій точці). - 16384: Задання бездіяльності (нульовий газ, нульовий крен/тангаж). - PX4 supports the coordinate frames (`coordinate_frame` field): [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) and [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED). - [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT) - The following input combinations are supported (via `type_mask`): - Position setpoint (only `lat_int`, `lon_int`, `alt`) - Specify the _type_ of the setpoint in `type_mask` (if these bits are not set the vehicle will fly in a flower-like pattern): ::: info The _setpoint type_ values below are not part of the MAVLink standard for the `type_mask` field. ::: Значення: - 4096: Точка взльоту. - 8192: Точка посадки. - 12288: Задання Loiter (політ по колу, центрованому на заданій точці). - 16384: Задання бездіяльності (нульовий газ, нульовий крен/тангаж). - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT). - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) - Підтримуються наступні вхідні комбінації: - Attitude/orientation (`SET_ATTITUDE_TARGET.q`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`). - Body rate (`SET_ATTITUDE_TARGET` `.body_roll_rate` ,`.body_pitch_rate`, `.body_yaw_rate`) with thrust setpoint (`SET_ATTITUDE_TARGET.thrust`). ### Ровер Rover supports offboard control using the generic MAVLink position/velocity setpoint messages listed below. These are converted into a [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) internally, and then into rover setpoints by the rover offboard modes. For rover-specific control setpoints and better behaviour we recommend using the [Rover Setpoints](#rover-setpoints) via ROS 2. :::info Rover MAVLink setpoints are gated by the MAVLink parameter [MAV_FWDEXTSP](../advanced_config/parameter_reference.md#MAV_FWDEXTSP) (Forward external setpoint messages). ::: - [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED) - Position setpoint: `x`, `y` in [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) (`z` is ignored by rover modules). - Velocity setpoint: `vx`, `vy` in [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) or [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED). - `yaw`/`yaw_rate`: - Ackermann/Differential: ignored (in velocity control the yaw setpoint is derived from the velocity direction). - Mecanum: can be controlled independently (decoupled) using `yaw`/`yaw_rate`. - Acceleration setpoints (`afx`, `afy`, `afz`) are ignored by rover modules. - [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT) - Position setpoint: `lat_int`, `lon_int`, `alt` (converted into local NED internally; rover modules only use the horizontal components). - Velocity setpoint: `vx`, `vy`, `vz` (rover modules use only the horizontal components). - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT). - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) - Not supported for rover offboard control. ## Параметри для відключення _Offboard mode_ is affected by the following parameters: | Параметр | Опис | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [COM_OF_LOSS_T](../advanced_config/parameter_reference.md#COM_OF_LOSS_T) | Time-out (in seconds) to wait when offboard connection is lost before triggering offboard lost failsafe (`COM_OBL_RC_ACT`) | | [COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT) | Flight mode to switch to if offboard control is lost (Values are - `0`: _Position_, `1`: _Altitude_, `2`: _Manual_, `3`: _Return_, `4`: _Land_). | | [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md). За замовчуванням це неможливо ввімкнути в режимі автопілоту. | | [COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | Кількість рухів стиків, яка викликає перехід у [режим Положення](../flight_modes_mc/position.md) (якщо [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) увімкнено). | | [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | Вкажіть режими, в яких втрата радіокерування ігнорується, а запобіжний алгоритм не виконуватиметься. Set bit `2` to ignore RC loss in Offboard mode. | ## Ресурси Розробника Typically developers do not directly work at the MAVLink layer, but instead use a robotics API like [MAVSDK](https://mavsdk.mavlink.io/) or [ROS](https://www.ros.org/) (these provide a developer friendly API, and take care of managing and maintaining connections, sending messages and monitoring responses - the minutiae of working with _Offboard mode_ and MAVLink). Наступні ресурси можуть бути корисними для аудиторії розробників: - [Offboard Control from Linux](../ros/offboard_control.md) - [ROS/MAVROS Offboard Example (C++)](../ros/mavros_offboard_cpp.md) - [ROS/MAVROS Offboard Example (Python)](../ros/mavros_offboard_python.md)