Day 4

1. First implementation of /missioncontroller ROS node (it should publish a take off mavros_msg/sendtext on /mavros/sendtext/send topic)
2. Find out that the starting position of PX4 simulation is hard-coded in /Tools/sitl_gazebo/include/gazebo_gps_plugin.h
   • Add this to your .bashrc:
     1. export PX4_HOME_LAT=46.452895
     2. export PX4_HOME_LON=11.490920
     3. export PX4_HOME_ALT=1415
3. New repository config:
   • Created repository mavlink-library-v2 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 ofbambi/build/mavlink/include/v2.0. Then it is required to update submodules of px4-firmware-bambi to make sure it is up-to-date
4. Push on bambi repo a primitive missioncontroller node which arm and lets the quad to take off. Up to now we use /mavros/cmd/takeoff 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 /mavros/cmd/command service which allow to send any COMMAND_LONG MAVlink messages.