navigator: publish navigator mission item changes for logging

- new msg navigator_mission_item for inspecting navigator mission item processing

msg/CMakeLists.txt

@@ -85,6 +85,7 @@ set(msg_files
 	mission_result.msg
 	mount_orientation.msg
 	multirotor_motor_limits.msg
+	navigator_mission_item.msg
 	obstacle_distance.msg
 	offboard_control_mode.msg
 	onboard_computer_status.msg

msg/navigator_mission_item.msg

@@ -0,0 +1,25 @@
+uint64 timestamp                 # time since system start (microseconds)
+
+uint32 instance_count            # Instance count of this mission. Increments monotonically whenever the mission is modified
+
+uint16 sequence_current          # Sequence of the current mission item
+
+uint16 nav_cmd
+
+float32 latitude
+float32 longitude
+
+float32 time_inside              # time that the MAV should stay inside the radius before advancing in seconds
+float32 acceptance_radius        # default radius in which the mission is accepted as reached in meters
+float32 loiter_radius            # loiter radius in meters, 0 for a VTOL to hover, negative for counter-clockwise
+float32 yaw                      # in radians NED -PI..+PI, NAN means don't change yaw
+float32 altitude                 # altitude in meters (AMSL)
+
+uint8 frame                      # mission frame
+uint8 origin                     # mission item origin (onboard or mavlink)
+
+bool loiter_exit_xtrack          # exit xtrack location: 0 for center of loiter wp, 1 for exit location
+bool force_heading               # heading needs to be reached
+bool altitude_is_relative        # true if altitude is relative from start point
+bool autocontinue                # true if next waypoint should follow after this one
+bool vtol_back_transition        # part of the vtol back transition sequence

msg/tools/uorb_rtps_message_ids.yaml

@@ -287,6 +287,8 @@ rtps:
     id: 136
   - msg: sensor_gyro_fft
     id: 137
+  - msg: navigator_mission_item
+    id: 138
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 150