PX4/Firmware — pull request #577 by DrTon (2014-01-02 18:41:24+00:00)
Title: New navigator

New mission handling application "navigator".
- Navigation state machine moved from "commander" to "navigator" app, it's responsive for publishing vehicle_control_mode and mission_item_triplet topics used by position controllers.
- RTL mode implemented: climb, go to home position horizontally, fast descend, slow land
- Mode switching by mavlink commands or RC (overrides commands if corresponding switches mapped)
- Force vertical takeoff for multirotors, even if first waypoint is not TAKEOFF
- Suport for landing/takeoff in the middle of mission (but not for FW, I think :) )

TODO:
- RC failsafe
- RTL: wait before landing (?)

WIP, not for merging yet, but for discussion.