上传航点的mavlink包
MISSION_ITEM ( #39 )
- Message encoding a mission item. This message is emitted to announce the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). See also https://mavlink.io/en/services/mission.html.
断点续飞：
mission.set_current_cmd();设置从第几个点开始。
mavlink_msg_mission_current_send();将当前的点的序号发送给GCS。
几个常见的上传命令：
MAV_CMD_NAV_TAKEOFF (22 ) param4：yaw angle 、param5：Latitude、param6：Longitude、param7：Altitude
MAV_CMD_DO_CHANGE_SPEED (178 ) param1：Speed Type、param2：Speed、param3：Throttle、param4：Relative
MAV_CMD_NAV_WAYPOINT (16 ) param1：Hold time、param2：Acceptance radius、param3：Pass Radius、param4：Desired Yaw、param5：lat、param6：lon、param7：alt
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