Yes, of course I understand that ROS will make my life easier, a part from installing the library on raspberry pi and adding more dependencies to the code. However until the moment I’m also trying to find a way to fully control the drone using only C++ code.
I have seen your question about offboard mode:
Until now I have not been able to switch to this mode using the code, probably because i didn’t understand the principle very well, what I have understood is that you need to send in a loop empty setpoint message, and later you send command long with MAV_CMD_NAV_GUIDED_ENABLE.
I don’t if the this is what should be done, I would like to have a clear documentation on this issue from
pixhawk developers
Best regards.