Hamish Willee

My two bits: 1. I lean towards a simple link as opposed to installation instructions. The more you write, the more you have to maintain - and that is hard...

@JonasVautherin The rally point sequence is exactly the same as the [mission protocol](https://mavlink.io/en/services/mission.html) except that you need to specify a `mission_type` of `MAV_MISSION_TYPE_RALLY` (instead of `MAV_MISSION_TYPE_MISSION`) in most messages and...

PS Geofence is also a variation on mission protocol.

@julianoes You're right in that the whole conceptual linking is rubbish - geofence and rally points apply everywhere, and the references to it being part of mission planning mean that...

@JonasVautherin The list of currently supported mission items/corresponding commands is here: https://mavsdk.mavlink.io/develop/en/guide/missions.html#supported_mission_commands It makes sense to add new VTOL mission items if needed, but didn't we decide that vehicle-specific functionality...

OK, Well if at all possible I think we should try to stick to our plan as close as possible :-)

@julianoes FWIW it makes perfect sense to implement the upload behaviour and it should be very easy to do - it is like mission upload with a different type set...

True. I take your point but I disagree because it makes a useful feature "forever unusable".

That can never ever happen. The only thing you can say is: > Rally points are alternative destinations that may be used instead of the home/launch locations in safe return...

In that case @julianoes, you're allowed to implement rally point upload :-)