Offboard control is currently in the OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY mode. However, it would be much simpler to control altitude by position as all navigation is being done in a 2D plane.
Modify the PX4 position controller to accept velocity inputs for x, y, and yaw, but position for z.
Offboard control is currently in the
OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY
mode. However, it would be much simpler to control altitude by position as all navigation is being done in a 2D plane.Modify the PX4 position controller to accept velocity inputs for x, y, and yaw, but position for z.