Offboard navigation

I am using Offboard flight control for indoor navigation using mocap system with mavros. In a situation of ros connection failure or mocap timeout event it fallback to Land flight mode from offboard and fly to home.

  1. How can I change it to hold position instead of fly to home?
  2. How can I set XYZ as home position?
  3. what are all the parameters can be used for smooth navigation in Offboard flight mode.

With a MOCAP timeout you shouldnt be able to get back to any position. Your controller cannot hold the position without an absolut position information.

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