More options needed for offboard

offboard is a great feature to use in indoor vicon but there are some limits to use at outdoor world

  1. only can be sustained by setpoint_position/local
    I think setpoint_raw/global should work either

  2. limited coordinate frames
    even in setpoint_position/local only MAV_FRAME_LOCAL_NED and MAV_FRAME_BODY_NED are supported
    seems at least MAV_FRAME_BODY_OFFSET_NED should be supported

there are mission mode for out doors but can’t control copter in real time
I think goto feature in APM is pretty nice

is there are any plans for offboard to be upgraded?

Yes, there are changes being discussed. There are multiple issues on github ( and discussion in #architecture on px4 slack.