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Waypoints don't support mission type #1157
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No, i think it is useless in Waypoint itself. Or i misunderstood spec, and this points is part of whole mission (single list)? |
@vooon My understanding is in line with yours in that while the same message is used for waypoint, rally and fence communication ( e.g. https://mavlink.io/en/messages/common.html#MISSION_ITEM ) they represent discreet functionality. |
@SamuelDudley perhaps. Maybe it is better to make basic waypoint io base class, and then do 3 plugins for each MISSION_TYPE. |
Hi @vooon I have had a go at implementing this here: https://github.com/Charlie-Burge/mavros/tree/feature/rally-points. I was initially adding rallypoints but it became clear quickly that adding functionality to send geofences wasn't hard to add beyond this. Does this implementation agree with your comment above? |
@Charlie-Burge yes, that's close to what i want to see. A few things to change:
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@vooon I believe I have managed to address your comments above in my latest commit - would it be best for me to submit a pull request to review in further detail? |
@Charlie-Burge yes, please do it. |
Issue details
Waypoints don't support mission types (fence and rally), it is hardcoded for MAV_MISSION_TYPE = MISSION:
#957
415b789
It looks like the waypoint message needs to be extended for the new field?
http://docs.ros.org/api/mavros_msgs/html/msg/Waypoint.html
And then mavros needs to be updated to allow this field to be queried/set as per the other fields.
MAVROS version and platform
Mavros: 0.28
ROS: Melodic
Ubuntu: 18.04
Autopilot type and version
[ x ] ArduPilot
[ x ] PX4 (presumably)
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