OffBoard control: using MAVROS for FW bank commands

Have a ROS base flight management system which manage dynamically the flight plan of a e-glider.
While most of the flight is done in the mission execution mode (following waypoints) at some point I would like to send specific bank commands while the pitch and throttle remains under the autopilot control to maintain the desired altitude & airspeed. Is it possible to do it through MAVROS? If not what you I need to do.


@AlexandreBorowczyk I don’t think this is currently possible. One way to work around it would be using velocity setpoints in the bodyframe (also not implmented)

@AlexandreBorowczyk Actually I think for your use case, you can even just work off on what is implemented here: