I am using an oDroid to control my quadrotor, and I was wondering if there was an easy way to code up an altitude hold scenario where the pitch / roll angles are commanded. I have experience with coding all the commands in full offboard mode and switching between setpoint types (positions, velocities, etc). I would like to be able to command a position hold in the z (using lidar data), and then also be able to command an attitude setpoint.
We would ideally like to be able to maintain a relatively even altitude hold at a specified altitude, and then effectively command a constant pitch or roll angle. We can use this data, along with data from our Mocap system to create a system ID model which we need for a steering controller we are designing.
Thanks in advance for any help or advice!