What we are doing is that identification of underlying dynamics of M100 by recording input virtual RC commands and its states using motion capture device. Given the system, model predictive controller (MPC) produces input commands; roll, pitch angles, yaw rate and vertical velocity.
We have modified dji_onboard_sdk_ros and integrated into our attitude and position controller together with multi-sensor fusion framework. You can find source code and relevant documentations from the link below.
Documentation is still ongoing but I believe that it would be a nice starting point toward having your fully autonomous drones.
If you have questions or inquiries, please let us know and will follow up.
In addition, it would be fantastic to hear your feedbacks in regarding this project.