[Bug] There is no thrust_and_torque data type in the OffboardControlMode.msg message in version 1.14.2 of PX4.

[Byzeal]

Describe the bug

These two instructions do not correspond.

To Reproduce

Customize thrust_and_torque in OffboardControlMode.msg

Expected behavior

Whether future versions support it

Screenshot / Media

No response

Flight Log

None

Software Version

1.14.2

Flight controller

PID

Vehicle type

Multicopter

How are the different components wired up (including port information)

No response

Additional context

No response

[Jaeyoung-Lim]

@Byzeal If you enable actuator, this would allow you to command thrust and torque

[Byzeal]

@Jaeyoung-Lim Thank you very much for your reply! I want to do is to design control algorithm through Simulink and verify my algorithm through automatic code generation of PX4 firmware. What I do now is to enable actuator in the algorithm, does it mean that the official controller output of PX4 is shielded, so that the thrust and torque messages I publish can be verified?

[Jaeyoung-Lim]

@Byzeal I do not know how the simulink is integrated with PX4, and with actuator setpoints. You would need to either verify this yourself or get support from mathworks.

[Byzeal]

@Jaeyoung-Lim Thank you very much for your reply! As shown in the image above, the model I built was generated using the Pixhawk toolchain with.pX4 firmware and burned into flight control. If not published, offboard_control_mode.msg message, I will be PX4 attitude loop output code after the comment out, re-generated code after burning can also take off and control normally.