Attitude control

Does DroneCode SDK allow controlling the attitude of the aircraft directly? I found classes and their respective functions to control velocity of the aircraft as well as using GPS based waypoints but didn’t find anything related to attitude control.
My application requires the aircraft to operate in a GPS denied environment for which attitude control of the aircraft is important.

Yes, you need to use offboard mode to control the aircraft,
Have a look at this function :
https://sdk.dronecode.org/en/api_reference/classdronecode__sdk_1_1_offboard.html#classdronecode__sdk_1_1_offboard_1ad87778386509911269b87766c0f1830f

Also there is a lot of documentation and guides, at the official website,

Initially the SDK was supposed to be for vehicles with a position estimate only, so only with GPS or flow.

However, we are thinking of adding support for this in the near future since many have asked for it.

Edit: tracked here: https://github.com/Dronecode/DronecodeSDK/issues/473