actuator_motors and actuator_servos subscribers for offboard control
Being subscribers, this does not increase the computational load
over the uxrce_dds brigde
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
New thrust and torque control mode added which replaces the previous
actuator mode,
in this mode the rate controllers are disables, the control allocator
is enabled and the used externally provices
vehicle_thrust_setpoints and vehicle_torque_setpoints.
New direct_actuator mode
In direct_actuator mode the control allocator module does not publish
actuator_motors and actuator_servos messages which must instead be
provided extrernally by the user.
Removed old direct mode.
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Beniamino Pozzan