1.使用mavlink based软件 没有ROS

2.使用无线连接，没有ROS

3. Onboard computer + ROS + WiFi link (recommended)

Control Methods 有下面两种方式

1. Offboard Control with Custom Code

参考 https://pixhawk.org/dev/direct-uart-offboard-control

取出sensor的数据 可以进一步处理再通过mavlink发送出来

2. Offboard Control with Mavros

参考 https://pixhawk.org/dev/ros/mavros_offboard

使用ROS MAVROS

Position control

Accepts PoseStamped for position and yaw

• The Pose message position is sent to controllers
• Only yaw from orientation quaternion is sent
• TF : position + yaw from orientation quaternion is sent

Topics :

• /mavros/setpoint/local_position

Parameters :

• position/listen_tf (bool) - Listen for desired position setpoint transforms
• position/frame_id - Frame for TF
• position/child_frame_id - Child frame for TF
• position/tf_rate_limit - Limit tf publish rate (default 10Hz)