I am using vicon to get the pose feedback for my drone. I am able to switch the pixhawk into offboard mode. Now what I am trying to accomplish is
- Give setpoints and takeoff and hover.
- Initiate in the position controller I have written to give desired roll pitch yaw angles which would be converted to quaternions and sent to pixhawk using setpoint attitude commands.
- I will require to supply some desired normalized thrust as well while doing so in the range between 0-1.
Now I am wondering how I can make this switch without crashing the drone?