SIM001 › The ground station › Ground control station › Planning a mission

Mission commands

Each item in the plan is a MAVLink mission command. The plan shows its short name, for example WAYPOINT for MAV_CMD_NAV_WAYPOINT. These commands fly the plane to a point: WAYPOINT, LOITER_UNLIM, LOITER_TURNS, LAND and RTL. LOITER_UNLIM circles until you give a new command, and LOITER_TURNS circles a set number of times. When you change the command of an item, the item stays in its place in the plan.

Changing a command keeps the item in its place

If the plan has at least 1 item, change the last item's command to LOITER_TURNS. The dashed plan and the count on UPLOAD do not change.

How this is tested not supported yet

Given the plan has at least 1 item
When the last plan item is LOITER_TURNS
Then the plan stays the same

Follows

the section's setup

Leads to

A mission that ends with a loiter keeps circling

Tested by

Reaching «Changing a command keeps the item in its place» not supported yet, Reaching «A mission that ends with a loiter keeps circling» not supported yet

Changing a command makes the vehicle's copy out of date

If the plan has at least 1 item and the vehicle mission is up to date, change the last item's command to LAND. The dashed plan and the solid line of the mission on the vehicle are different.

How this is tested not supported yet

Given the plan has at least 1 item
  And the vehicle mission is up to date
When the last plan item is LAND
Then the vehicle mission is out of date

Follows

the section's setup

Leads to

EDIT brings the vehicle's mission back into the plan

Tested by

Reaching «Changing a command makes the vehicle's copy out of date» not supported yet, Reaching «EDIT brings the vehicle's mission back into the plan» not supported yet, Reaching «A mission that ends with a landing lands» not supported yet