Fix: Allow offboard acceleration control with only attitude and no horizontal velocity estimate

[MaEtUgR]

Solved Problem

When "ra1nyu" brought up https://discuss.px4.io/t/why-does-acceleration-control-in-offboard-mode-need-velocity-estimate/42512 in the developer call we found in the discussion that offboard pure acceleration control should not depend on a velocity estimate but only on vehicle attitude control.

Solution

Change requirement to pass check for acceleration setpoints when an attitude is available.

Changelog Entry

Fix: Allow offboard acceleration control with only attitude and no horizontal velocity estimate

Alternatives

I honestly did not go back in history to check why this dependency exists. I can still do that.

Test coverage

Not tested, I only made the pr while already looking at the code and discussing it.

[DronecodeBot]

This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/why-does-acceleration-control-in-offboard-mode-need-velocity-estimate/42512/7

[github-actions]

FLASH Analysis

px4_fmu-v5x

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px4_fmu-v6x

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+0.0%      +8  +0.0%      +8    .text
-0.0%      -8  [ = ]       0    [Unmapped]
[ = ]       0  +0.0%      +8    TOTAL

Updated: 2024-12-04T17:03:07

[beniaminopozzan]

Hey @mrpollo , have the failing MAVROS tests been already listed down?

[mrpollo]

tests are fixed here #24039

[MaEtUgR]

This was introduced either intentionally or by accident here:
d0c9a5f?diff=split#diff-e4b611e75eba3844661619867ee06befbcf230aced354a14f167f7d0ebbca8e0R3960

But then I guess @dagar would know and he didn't seem to have a particular case in mind.