Hi,
This request is for research purposes and since i have basic knowledge about arducopter code I would really appreciate if someone can help me out achieving my request described below.
I have implemented in a simulation environment for my quadcopter controller, a lissajou pattern adding frequency sweeps in order to excite dynamics in all axis. This was achieved by simply applying velocity commands that were designed as sinusoidal signals.
I would like to apply the same thing for my drone. Is their anyone did something like that before? I could probably achieve it via a high speed automission, using spline pattern with altitude variations but I dont think I can at the same time add some oscilatory motion across pitch or rolling axis.
In other words, I am basically trying to combine system identification flight mode and automission mode. I am pretty sure that this is something achievable according to this video on youtube from the well known reputable developer @tridge but i am not sure if he will have the time to reply for this post 
Ill be grateful for any ideas on how to do that, but please keep in mind that I have zero experience in the arducopter controller code… Thank you in advance.