Describe the bug

When RAPTOR is configured to replace internal OFFBOARD mode, standard MAVLink/MAVROS Offboard setpoints are not routed into PX4 internal setpoint topics.

Current setup:

• MC_RAPTOR_ENABLE=1
• MC_RAPTOR_OFFB=1
• MC_RAPTOR_INTREF=0

In this setup, switching to OFFBOARD is mapped to an external replacement mode (RAPTOR). However, MAVLink setpoints (SET_POSITION_TARGET_LOCAL_NED, SET_POSITION_TARGET_GLOBAL_INT, SET_ATTITUDE_TARGET) are accepted on the wire but not published to internal control topics as expected.

Observed behavior:

1. Enter OFFBOARD (which is replaced by RAPTOR external mode).
2. Send continuous MAVLink/MAVROS Offboard setpoints.
3. trajectory_setpoint does not update in RAPTOR control path (or is considered stale), and RAPTOR does not follow the command stream.

Expected behavior:

• If an external mode replaces OFFBOARD, standard MAVLink Offboard setpoints should still be accepted and routed exactly like OFFBOARD, without relaxing gating for unrelated non-Offboard modes.

Flight Log / Additional Information

Flight log link: N/A (bench/ground validation with topic observation)

Version:

• PX4 git-hash: d317113dc8b6d41c8304440c8846e69dc511cd4a
• PX4 version: 1.17.0 40
• Build variant: raptor

Hardware:

• FC: HKUST_NXT_DUAL (hkust_nxt-dual_raptor)
• Vehicle type: Multicopter

Related context:

• This blocks MAVROS/MAVLink users from using RAPTOR with external trajectory/attitude targets through standard Offboard messages.
• A generic (non-RAPTOR-specific) fix is preferred so all external OFFBOARD replacements behave consistently.