The reason I made this is to help understanding the framework of PX4 and also to prepare a clean enviroment for future functionalities development.
only two modes left: attitude and position(modified altitude mode) control
if you want to use, try replace two files in the dirctory listed bellow:
Firmware\src\modules\mc_pos_control
Firmware\src\modules\mc_att_control
only compatible with a few old versions
if you have any questions, please contact me
https://www.youtube.com/channel/UCRnzJhv6RKTSOPK2jxv3mOA Flight test video
P.S. 8arm_multirotor is the MATLAB simulation model of this code