You can do either a waypoint control or giving motion primitives using this package.
ALERT Whenever you change values, you must check it using gazebo to see if the quad works fine prior to flying the actual quad.
The initial position of the quad when you use this package is given by the moment when you change to the offboard mode. The unit of all variables is meter (m).
Run mavros px4.launch with the usb port setting first. (This package does not contain mavros itself.)
You can set waypoints using waypoint_points.yaml in the yaml folder. At the end of the algorithm, the quad remains in the position of the last waypoint you give.
Then, run roslaunch uav_control waypoint_control.launch.
You can set motion primitives using motion_primitive_points.yaml in the yaml folder.
Run roslaunch uav_control motion_primitive.launch.
After you run the launch file, the quad remains in the positon that is given when you change the mode to the offboard mode. Then, you can give a command for motion primitive by typing rostopic pub /mavros/motion_primitive std_msgs/String 'A name of your motion primitive'.