Roman Bapst

> The first option in the VTOL_TAKEOFF_WAYPOINT_ROLE needs to be something that says "do whatever you used to do", and ideally "system default behaviour". @hamishwillee I will add a "system...

@hamishwillee The main motivation of this PR is to be able to use the VTOL takeoff item as a standalone item! You could compare it to VTOL_LAND. That commands also...

@hamishwillee > param1 = transition alt. 0 and NaN mean "ignore - use system default". I don't think this can be the transition alt as PX4 currently is using param...

@hamishwillee I'm sorry, I lost track of this. I will make the changes today as discussed before. We agreed that we don't need the loiter role which simplifies a lot....

@hamishwillee @auturgy I thought about it a bit more and came to the conclusion that any change I'm trying to do to this message bears the risk to cause unexpected...

@hamishwillee @auturgy This is my first suggestion of how I think the command could look like. The difference to the old implementation are: - it clearly defines a climbout waypoint...

New idea: MAV_CMD_NAV_VTOL_TAKEOFF_RELATIVE - specify loiter point relative to current location via bearing - specify transition heading as either specific (param) or system default - no more lat lon since...

@hamishwillee > I am not sure I fully understand the MAV_CMD_NAV_VTOL_TAKEOFF_RELATIVE - probably need to see a definition The problem with specifying a global coordinate in the message is that...

@rizvanovic @dagar Does this address the geofence safety issue regarding taking off too close to the fence?

@MaEtUgR I encapsulated the logic for checking if the vehicle is closer than the min dist to the fence into the geofence library. The reason why I did not do...