since position control is not already provided by the Dronecode SDK and I would really like to have it in my “toolbox”, I decided to add it in the Dronecode OFFBOARD commands.
I have already successfully added the position commands for the NED frame (I will be glad to share the code if you’re interested) and I am now trying to add the position commands for the BODY frame. But it seems to me that frame is ignored by the position control.
Looking inside the PX4 code, I found that the OFFBOARD commands are handled in the method
Inside this method, the only reference to a
frame is the
Does it mean that the offboard position control always overrides the frame to NED? Is it possible to command displacements in BODY frame?