testing setting of waypoint 0 so can upload mission

[nkruzan]

Initial hacky code to get a test of mission that successfully uploads.

What is the normal process for setting the home position when creating a mission? Click somewhere on the map and set that waypoint as home?

Here I am using the current home position as reported by the autopilot. I have only set up missions in this manner, where autopilot is running at start location and have never had to set the home position.

[davidbuzz]

"For Plane and Rover, if a good GPS fix cannot be obtained the location specified in the command is used. For Copter, the command will also try to use the current position if all the location parameters are set to 0. The location information in the command is only used if it is close to the EKF origin."

https://ardupilot.org/copter/docs/common-mavlink-mission-command-messages-mav_cmd.html#mav-cmd-do-set-home

[nkruzan]

so its saying to set xyz to 0 on waypoint 0 and then autopilot will use its current location (at time mission started) as home? or im not understanding