Hi,

I am trying to implement the SET_ROLL_PITCH_YAW_THRUST mavlink command to control a quadrotor that has an APM onboard. 

Currently the system I am using uses a Linux system running a C++code to control Asc humming bird and access VICON data. The purpose is to have full trajectory control over the quadrotor using the VICON system and controlling the quadrotor via MAVLink. This is because we need a cheaper solution for experimenting control of multiple quadrotors. 

I am currently feeling lost to implement the SET_ROLL_PITCH_YAW_THRUST message in the ground computer side. Is there anyway to directly send mavlink commands from the desktop using C++?

I have found some references using simulink in matlab ( https://code.google.com/p/lucas-research/wiki/APMSimulink ) or ROS. 

However, I would like to avoid using Matlab to keep the system compatible with the libraries which was previously being used.

Will there be anyway or reference that I could be able to send commands directly from my C++ code via MAVLink.

Any comments will be alot of help!

Thank you