This will initialize those structs with zero in all fields not set
and all fields set will only be change once to the final value not
wasting CPU time zeroing it.
This will guarantee that no non-unitialized structs will have
a trash value on from_external causing it to be sent to the
MAVLink channel without need it.
- Use the course over ground as loiter exit criteria (better wind behavior)
- Compute the tangent origin coordinate explicitly instead of using immediate position
- weathervane on takeoff
- separate cruising speeds for VTOL in MC and FW
- cruising speed resets
- mission work item logic is more clear
- fixed double execution of certain work item states
- enable cruise speed change on the fly by command
- moved VTOL transition target position generation to mission code and set always
This change fixes a wrong behaviour when a takeoff command is sent.
An example:
- MIS_TAKEOFF_ALT set to 10 meters
- Takeoff command with alt setpoint of 2 meters
Old behaviour:
1. Climb to 10 meters -> takeoff WP reached
2. Go to setpoint at 2 meters
New behaviour:
1. Climb to 10 meters and stay there but notify that altitude was
overridden.
In the normal sitl `commander takeoff` case, the takeoff jump was never
actually carried out because the default altitude radius is set to 3m
and the takeoff altitude to ~2m which means that the takeoff waypoint is
"reached" immediately.
This works around this edge case by using the altitude between the home
altitude and takeoff altitude divided by 2 as a acceptance radius.
This adds the capability to forward the commands
- MAV_CMD_VIDEO_START_CAPTURE
- MAV_CMD_VIDEO_STOP_CAPTURE
- MAV_CMD_IMAGE_START_CAPTURE
- MAV_CMD_IMAGE_STOP_CAPTURE
at waypoints which will then be sent over mavlink to component id
100 aka MAV_COMP_ID_CAMERA.
José Roberto de Souza