Offboard: Fixed Wing Position Controller does not output Thrust

[troffel1]

Hi there,

Somewhat related to closed issues and merged fixes: #5927, #630, and #6112.

For fixed wing offboard control
(CASE I): fw_pos_control_l1 does not generate thrust setpoints after receiving velocity setpoints in position setpoint triplet topic.
(CASE II): Vehicle does not enter offboard mode or arms after sending separate thrust setpoints

To reproduce

1. Similar to the offboard example, send:
   (CASE I):

mavros_msgs::PositionTarget target;
target.header.stamp = ros::Time::now();
target.coordinate_frame = 8;
target.type_mask=0b011111000111;
target.velocity.x=0;
target.velocity.y=10;
target.velocity.z=0;
target.yaw_rate = 0.05;

or,
(CASE II):

mavros_msgs::Thrust targetthrust;
targetthrust.header.stamp = ros::Time::now();
targetthrust.thrust = 0.5;

(CASE I): Fixed wing enters OFFBOARD mode and arms. position_setpoint_triplet topic contains desired velocity.
(CASE II): Fixed wing does not enter OFFBOARD mode and does not arm.

(CASE I): vehicle_attitude_setpoint topic contains different roll & yaw setpoints while in OFFBOARD mode, no thrust setpoint generated
(CASE II): same as in 2.

Expected behavior
Just as for the multicopter Iris and the VTOL, which took off and displayed behavior as expected with this method (with positive velocity.z setpoint).

Is this a bug, or am I doing something wrong?

Log Files
(CASE I) https://review.px4.io/plot_app?log=3dd4e868-a89b-40e2-a886-651c61ba0869
CASE II) https://review.px4.io/plot_app?log=d9769efa-a316-41b7-8cd7-8697eb293604

Thanks!

[Jaeyoung-Lim]

@troffel1 In case of attitude setpoints, it is now working after #12311 #12149

[stale]

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