First implementation of /missioncontroller ROS node (it should publish a take off mavros_msg/sendtext on /mavros/sendtext/send topic)
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:
export PX4_HOME_LAT=46.452895
export PX4_HOME_LON=11.490920
export PX4_HOME_ALT=1415
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
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.