Why is takeoff called here? I saw that takeoff is set in the create_mission_raw function. For APM, do you need to set takeoff in the mission and also call takeoff outside? Why?

[wenii]

MAVSDK/src/integration_tests/mission_raw_import_and_fly.cpp

Line 127 in 849cb9a

ASSERT_EQ(mission_raw.start_mission(), MissionRaw::Result::Success);

[julianoes]

It's true, we could probably do this without the explicit takeoff call. Can you make a pull request to remove it?

[wenii]

"I tried both with the APM SITL simulator and a real drone. If there's no TAKE_OFF command in create_mission_raw, it won't take off. Also, keeping the TAKE_OFF command in the mission plan without explicitly calling the takeoff function won't make it take off either."

[wenii]

If that's the case, it's fine as long as it can take off and execute the mission. After all, the MAVSDK's compatibility with APM isn't perfect. Now, I'm facing another issue where I can't execute multiple mission plans. For instance, if I upload a mission plan and it finishes executing, then I upload another one, the second mission plan doesn't execute. There are no error reports; the drone just keeps hovering at the end of the first mission's route.

[julianoes]

Hm, so it doesn't reset current to 0? Can you explicitly to set_current to reset to 0?

[wenii]

Yes, later I found that setting set_current to 0 after uploading a new mission allows the new mission to take effect before the completion of the first mission. However, if the first mission has already been completed and a new mission is uploaded afterward, the new mission still may not execute. Then, I set the command of the last mission_item in the first mission to MAV_CMD_NAV_LOITER_UNLIM. This allows the second mission to execute seamlessly.

[julianoes]

I'm a bit confused why it doesn't reset the current on re-upload, that's odd.