what the original post was asking about was a direct way to control propellers, such as that which you can do in Q-Ground Control, whenever you can set a certain power to each individual motor. The post went on the clarify that you can do autonomous flight by sending messages via MQTT telling it to go to certain areas, as shown: Autonomous Code Snippets - #3 by Jonah and Autonomous Code Snippets - #4 by nathan
Basically, you cannot directly control individual motors, but you can control where drone goes to by giving it a coordinate