This is a control package for DJI N3/PX4(in progress) high level position control using Visual Odometry or mocation capture. It also provide some system iden function with combintation of my other great repo https://github.com/xuhao1/pyaircraftiden.
The only interface is sending message to topic "/drone_commander/onboard_command".
drone_cmd.py provide a great example for usage including takeoff, flyto somewhere landing and also do a sweep frequency experiment.
uint32 CTRL_POS_COMMAND=0
uint32 CTRL_VEL_COMMAND=1
uint32 CTRL_ATT_COMMAND=2
uint32 CTRL_MISSION_LOAD_COMMAND=3
uint32 CTRL_MISSION_END_COMMAND=4
uint32 CTRL_TAKEOF_COMMAND=5
uint32 CTRL_LANDING_COMMAND=6
uint32 CTRL_HOVER_COMMAND=7
uint32 CTRL_ARM_COMMAND=8
uint32 command_type
# For POS param1 2 3 is x y z * 10000
# 4 is yaw*10000 if yaw =666666, then use last yawsp
# 567 is vel feedforward
# 8,9,10 is acc feeforward
# For VEL param1 2 3 is x y z * 10000
# 4 is yaw*10000 if yaw =666666, then use last yawsp
# For ATT
# param1 2 3 4 is roll pitch yaw vz * 10000
# 5 (>0 use thrust else z is velz)
# 6 (>0 use yaw else yawrate)
# For TAKEoff param 1 is takeoff height * 10000
# For arm param = 0 is disarm param>0 is arm
# For mission param1-7 is mission id
int32 param1
int32 param2
int32 param3
int32 param4
int32 param5
int32 param6
int32 param7
int32 param8
int32 param9
int32 param10
You can use this software freely. But if this crash your drone, no body will help you.