diff --git a/examples/offboard_from_csv/active.csv b/examples/offboard_from_csv/active.csv
new file mode 100644
index 00000000..ff8ed0ab
--- /dev/null
+++ b/examples/offboard_from_csv/active.csv
@@ -0,0 +1,1267 @@
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diff --git a/examples/offboard_from_csv/offboard_from_csv.py b/examples/offboard_from_csv/offboard_from_csv.py
new file mode 100644
index 00000000..f180c93a
--- /dev/null
+++ b/examples/offboard_from_csv/offboard_from_csv.py
@@ -0,0 +1,224 @@
+"""
+Script: offboard_from_csv.py
+Author: Alireza Ghaderi
+Contact: p30planets@gmail.com
+GitHub: github.com/alireza787b
+Last Updated: 31 May 2023
+
+This script controls a drone in offboard mode using a trajectory
+defined in a CSV file.
+It establishes a connection with the drone, reads the trajectory
+data from the CSV file, and commands the drone to
+follow the trajectory.
+At the end of the trajectory, the drone returns to
+its home position and lands.
+
+Make sure that the drone is properly configured for offboard control
+before running this script.
+Adjust the time resolution in the script (timeStep = 0.1 seconds)
+if needed for your application.
+
+
+Prerequisites:
+- MAVSDK library
+(Refer to the MAVSDK documentation for installation instructions)
+- Drone setup for offboard control
+- Valid global position estimate for the drone
+
+Usage:
+python offboard_from_csv.py
+
+Inputs:
+- CSV file "active.csv" located in the same directory as this script.
+This file contains the trajectory data. The CSV structure is as follows:
+    - t: time in seconds
+    - px, py, pz: position in NED (North-East-Down) coordinates
+    - vx, vy, vz: velocity in NED coordinates
+    - ax, ay, az: acceleration in NED coordinates
+    - mode: mode code representing different stages of the drone's movement
+     (see Mode Codes below for more details)
+- An image "trajectory_plot.png" located in the
+  directory named "trajectory_plot".
+  This image provides a visual preview of the trajectory.
+
+Outputs:
+- Drone movement following the trajectory defined in the CSV file.
+The drone returns to its home position to land after performing the trajectory.
+
+Example Usage:
+1. Ensure drone connection to the system and a valid global position estimate.
+2. Place trajectory data in "active.csv".
+3. Run the script.
+
+Mode Codes:
+0: "On the ground",
+10: "Initial climbing state",
+20: "Initial holding after climb",
+30: "Moving to start point",
+40: "Holding at start point",
+50: "Moving to maneuvering start point",
+60: "Holding at maneuver start point",
+70: "Maneuvering (trajectory)",
+80: "Holding at the end of the trajectory coordinate",
+90: "Returning to home coordinate",
+100: "Landing"
+
+Additional Information:
+- For a step-by-step guide on using the MAVSDK library for controlling drones,
+  refer to the video tutorial provided in the GitHub repository (alireza787b).
+- More sophisticated drone show projects and multiple drone simulation examples
+  are available in the mavsdk_drone_show repo:
+  https://github.com/alireza787b/mavsdk_drone_show
+
+Note:
+- As of May 2023, set_position_velocity_acceleration_ned is not yet available
+  in the default build for the mavsdk-Python Installation with pip3.
+  If you need to input acceleration, you should build MAVSDK for yourself.
+"""
+
+
+import asyncio
+import csv
+from mavsdk import System
+from mavsdk.offboard import PositionNedYaw, VelocityNedYaw
+from mavsdk.offboard import AccelerationNed, OffboardError
+from mavsdk.telemetry import LandedState
+
+
+# Find the current waypoint based on time
+def get_current_waypoint(waypoints, time):
+    return next((wp for wp in waypoints if time <= wp[0]), None)
+
+
+async def run():
+    # Define a dictionary to map mode codes to their descriptions
+    mode_descriptions = {
+        0: "On the ground",
+        10: "Initial climbing state",
+        20: "Initial holding after climb",
+        30: "Moving to start point",
+        40: "Holding at start point",
+        50: "Moving to maneuvering start point",
+        60: "Holding at maneuver start point",
+        70: "Maneuvering (trajectory)",
+        80: "Holding at the end of the trajectory coordinate",
+        90: "Returning to home coordinate",
+        100: "Landing"
+    }
+
+    # Connect to the drone
+    drone = System()
+    await drone.connect(system_address="udp://:14540")
+
+    # Wait for the drone to connect
+    print("Waiting for drone to connect...")
+    async for state in drone.core.connection_state():
+        if state.is_connected:
+            print("-- Connected to drone!")
+            break
+
+    # Wait for the drone to have a global position estimate
+    print("Waiting for drone to have a global position estimate...")
+    async for health in drone.telemetry.health():
+        if health.is_global_position_ok and health.is_home_position_ok:
+            print("-- Global position estimate OK")
+            break
+
+    # Arm the drone
+    print("-- Arming")
+    await drone.action.arm()
+
+    # Set the```python
+    # Set the initial setpoint
+    print("-- Setting initial setpoint")
+    startSetpoint = PositionNedYaw(0.0, 0.0, 0.0, 0.0)
+    await drone.offboard.set_position_ned(startSetpoint)
+
+    # Start offboard mode
+    print("-- Starting offboard")
+    try:
+        await drone.offboard.start()
+    except OffboardError as error:
+        print(f"Starting offboard mode failed with error code:"
+              f" {error._result.result}")
+        print("-- Disarming")
+        await drone.action.disarm()
+        return
+
+    waypoints = []
+
+    # Read data from the CSV file
+    with open("active.csv", newline="") as csvfile:
+        reader = csv.DictReader(csvfile)
+        for row in reader:
+            waypoints.append((float(row["t"]),
+                              float(row["px"]),
+                              float(row["py"]),
+                              float(row["pz"]),
+                              float(row["vx"]),
+                              float(row["vy"]),
+                              float(row["vz"]),
+                              float(row["ax"]),
+                              float(row["ay"]),
+                              float(row["az"]),
+                              int(row["mode"])))
+
+    print("-- Performing trajectory")
+    total_duration = waypoints[-1][0]
+    # Total duration is the time of the last waypoint
+    t = 0  # Initialize time variable
+    last_mode = 0
+    while t <= total_duration:
+        current_waypoint = get_current_waypoint(waypoints, t)
+        if current_waypoint is None:
+            # Reached the end of the trajectory
+            break
+
+        position = current_waypoint[1:4]
+        velocity = current_waypoint[4:7]
+        acceleration = current_waypoint[7:10]
+        mode_code = current_waypoint[-1]
+        if last_mode != mode_code:
+            # Print the mode number and its description
+            print(" Mode number: " + f"{mode_code}, "
+                  f"Description: {mode_descriptions[mode_code]}")
+            last_mode = mode_code
+        # set_position_velocity_acceleration_ned is not yet available
+        # in the default build for MAVSDK-Python Installation with pip3
+        # If you need to input acceleration,
+        # you should build MAVSDK for yourself.
+        await drone.offboard.set_position_velocity_ned(
+            PositionNedYaw(*position, current_waypoint[10]),
+            VelocityNedYaw(*velocity, current_waypoint[10])
+        )
+        # await drone.offboard.set_position_velocity_acceleration_ned(
+        #     PositionNedYaw(*position, current_waypoint[10]),
+        #     VelocityNedYaw(*velocity, current_waypoint[10]),
+        #     AccelerationNed(*acceleration, current_waypoint[10])
+        # )
+
+        timeStep = 0.1
+        await asyncio.sleep(timeStep)  # Time resolution of 0.1 seconds
+        t += timeStep
+
+    print("-- Shape completed")
+
+    print("-- Landing")
+    await drone.action.land()
+
+    async for state in drone.telemetry.landed_state():
+        if state == LandedState.ON_GROUND:
+            break
+
+    print("-- Stopping offboard")
+    try:
+        await drone.offboard.stop()
+    except Exception as error:
+        print(f"Stopping offboard mode failed with error: {error}")
+
+    print("-- Disarming")
+    await drone.action.disarm()
+
+if __name__ == "__main__":
+    # Run the asyncio loop
+    asyncio.run(run())
diff --git a/examples/offboard_from_csv/trajectory_plot.png b/examples/offboard_from_csv/trajectory_plot.png
new file mode 100644
index 00000000..8584c7a4
Binary files /dev/null and b/examples/offboard_from_csv/trajectory_plot.png differ