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# First implementation of <code>/missioncontroller</code> ROS node (it should publish a take off <code>mavros_msg/sendtext</code> on <code>/mavros/sendtext/send</code> topic)
# Find out that the starting position of PX4 simulation is hard-coded in <code>/Tools/sitl_gazebo/include/gazebo_gps_plugin.h</code>
#* Add this to your .bashrc:
#*#<code>export PX4_HOME_LAT=46.452895</code>
#*#<code>export PX4_HOME_LON=11.490920</code>
#*#<code>export PX4_HOME_ALT=1415</code>
# New repository config:
#* Created repository <code>mavlink-library-v2</code> as a fork in BambiSaver repo to use it as a submodule in PX4 Firmware
#** Updatet it with current mavlink msg header build output
#** N.B Every time .xml messsage definition is updated we should update the forked repository pushing the content of<code>bambi/build/mavlink/include/v2.0</code>. Then it is required to update submodules of <code>px4-firmware-bambi</code> to make sure it is up-to-date
#Push on bambi repo a primitive <code>missioncontroller</code> node which arm and lets the quad to take off. Up to now we use <code>/mavros/cmd/takeoff</code> service which only sends MAV_CMD_NAV_TAKEOFF forcing us to set an absolute ground altitude. It would be convenient to use a relative altitude using MAV_CMD_NAV_TAKEOFF_LOCAL message. This can be done using <code>/mavros/cmd/command</code> service which allow to send any <code>COMMAND_LONG</code> MAVlink messages.