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
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The Pose message position is sent to controllers
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Only yaw from orientation quaternion is sent
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TF : position + yaw from orientation quaternion is sent
Topics :
Parameters :
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position/listen_tf (bool) - Listen for desired position setpoint transforms
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position/frame_id - Frame for TF
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position/child_frame_id - Child frame for TF
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position/tf_rate_limit - Limit tf publish rate (default 10Hz)
offboard Control
原文：http://www.cnblogs.com/fastwave2004/p/4583650.html
