Fully autonomous commands through MavProxy

Hi, we are designing a quad-copter that will fly autonomously. We want to have it not reliant on gps and just take bearing such as yaw, pitch and roll as you would get them from the controller, rather than having to manually control the quad-copter (i.e. if we wanted it to fly forwards it would simulate forwards pitch rather than needing a gps xyz co-ordinate). Does anyone know of any software that would do this?

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