Setpoint_attitude/attitude quaternion transformation

[px4_robot]

@Jaeyoung-Lim . Thanks for your reply. Can you tell me if my understanding is correct for these two points?

(1) You cannot mix position and attitude in offboard mode

(2) You can send a setpoint for attitude with a setpoint for altitude (z) with mavsdk (and mavros?) if you use the correct type_mask?

Setting the type mask for setpoints

Hi, I think that’s tricky because for position or velocity control we use a different message SET_POSITION_TARGET_LOCAL_NED than for attitude control where we use the message SET_ATTITUDE_TARGET. In theory you could be sending both messages with most fields set as ignored except the altitude in the first message and the attitude in the second. If I was you I would try that in SITL and see what happens, or alternatively look at the position controller to try to figure out how it deals with that. …

After reading your comment from Feb 2020 and the above comment I got hope for point #2. Am I understanding your post and the linked discussion correctly?