Enable offboard actuator setpoints

Author: Jaeyoung-Lim

msg/offboard_control_mode.msg

@@ -7,3 +7,4 @@ bool velocity
 bool acceleration
 bool attitude
 bool body_rate
+bool actuator

src/modules/commander/Commander.cpp

@@ -3903,12 +3903,13 @@ Commander::offboard_control_update()
 			    old.velocity != ocm.velocity ||
 			    old.acceleration != ocm.acceleration ||
 			    old.attitude != ocm.attitude ||
-			    old.body_rate != ocm.body_rate) {
+			    old.body_rate != ocm.body_rate ||
+			    old.actuator != ocm.actuator) {
 
 				_status_changed = true;
 			}
 
-			if (ocm.position || ocm.velocity || ocm.acceleration || ocm.attitude || ocm.body_rate) {
+			if (ocm.position || ocm.velocity || ocm.acceleration || ocm.attitude || ocm.body_rate || ocm.actuator) {
 				offboard_available = true;
 			}
 		}

src/modules/mavlink/mavlink_receiver.cpp

@@ -1144,6 +1144,7 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
 		//bool ignore_setpoints = bool(actuator_target.group_mlx != 2);
 
 		offboard_control_mode_s offboard_control_mode{};
+		offboard_control_mode.actuator = true;
 		offboard_control_mode.timestamp = hrt_absolute_time();
 		_offboard_control_mode_pub.publish(offboard_control_mode);