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MAV_CMD_MISSION_START - more explicit about takeoff #1699

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MAV_CMD_MISSION_START - more explicit about takeoff #1699

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10 changes: 7 additions & 3 deletions message_definitions/v1.0/common.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -1606,9 +1606,13 @@
<param index="7">Empty</param>
</entry>
<entry value="300" name="MAV_CMD_MISSION_START" hasLocation="false" isDestination="false">
<description>start running a mission</description>
<param index="1" label="First Item" minValue="0" increment="1">first_item: the first mission item to run</param>
<param index="2" label="Last Item" minValue="0" increment="1">last_item: the last mission item to run (after this item is run, the mission ends)</param>
<description>Start running a mission at a specified mission item.
If needed, vehicles should first attempt to arm, switch to mission mode, and takeoff. The flight stack may reject the command if it is unable to perform these operations.

Note: If the selected start mission item does not start a takeoff operation/sequence, the flight stack may takeoff using the "default takeoff mode" for the vehicle type.
Note: A flight stack will ignore any mission commands that are not appropriate for the current vehicle state. For example, it will ignore a command to takeoff if it is already flying.</description>
<param index="1" label="First Item" minValue="0" increment="1">The first mission item to run</param>
<param index="2" label="Last Item" minValue="0" increment="1">The last mission item to run (after this item is run, the mission ends).</param>
</entry>
<entry value="400" name="MAV_CMD_COMPONENT_ARM_DISARM" hasLocation="false" isDestination="false">
<description>Arms / Disarms a component</description>
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