implement MAV_CMD_NAV_LOITER_TO_ALT and general mission cleanup #4992
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Looks good from sifting through it. But I need another pass to check line by line. |
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Some additional testing from other developers might be prudent here. I did a few tests of creating/loading/retrieving random missions and diffed what QGC saved. I didn't test MC or VTOL. |
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FYI I've been flying this SITL, HIL, and outside for the past week. Typical FW missions with takeoff, loiter, waypoint, jump, loiter_to_alt, land. |
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That changes things considerably. Let me have another pass. |
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Rebased and applied, thanks! |
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This PR implements MAV_CMD_NAV_LOITER_TO_ALT and has some general mavlink mission cleanup that I came across while implementing and testing.
The mavlink mission handling had some holes and was difficult to follow and extend so I refactored it to only handle what we actually implement. I can split that off into another PR if desired.
QGC side: mavlink/qgroundcontrol#3730