I have a very, very basic understanding of attitude control as it relates to general aviation and want to apply some knowledge so that I could work with
px4_sitl gazebo_iris_opt_flow, basically for testing a quadrotor in offboard mode. I’d like to basically limit the quadrotor to only move up/down (vertical) and left/right (roll). As I understand it, the thrust value is for moving up/down…and 0.5 keeps it at the current altitude? The greater the value above 0.5, the faster it moves up? Is that the same for moving down for values below 0.5? Also, what level of precision can you use for the thrust value? Is something like 0.51234 valid? If you wanted to keep the drone steady at the current altitude, would you constantly be streaming attitude quaternion with thrust at 0.5?
As for moving with roll, does the increase in degrees equate to increased velocity? For example, 30 degrees vs. 45 degrees. Also, if you want to roll on the horizontal plane, thrust is always 0.5? If so, what happens if you roll and thrust is for example 0.7?
Finally, I’m not too familiar with bitmask, but if you want to ignore pitch and yaw, what would the corresponding type_mask and quaternion look like?