Hamish Willee

> Caching parameters is fine if the autopilot broadcasts the new values whenever they change. It is not fine if MAVSDK has no way to know that the parameter was...

My two bits .... you should follow the spec. - Every time you connect to a system you should get all its params. It is not explicitly noted, but if...

> I think this "spec" comes from the way how a ground station like QGC generally works. I don't think it makes sense. 1. What if someone wishes to use...

@JonasVautherin 1. I was wrong - removing the caching is still compliant. I have fixed up the wording in https://github.com/mavlink/mavlink-devguide/pull/204 to make this more obvious. 2. I do not think...

I don't think this is possible with the SDK because there is AFAIK no API to support it AND this won't necessarily be supported by default in PX4. Without having...

PS The people who might help with this are possibly at Interdrone. @bkueng Can you comment about PX4 support? As I understand it the mixer is what defines what comes...

Note also the [PX4 path planning docs](https://docs.px4.io/master/en/computer_vision/path_planning_interface.html), which pull out the "generic behaviour" from the obstacle avoidance and safe landing implementation. Off the top of my head the considerations are...

@JonasVautherin One other consideration. PX4 doesn't use them, but if you need to be "MAVLink compliant" you may need to think about `TRAJECTORY_REPRESENTATION_BEZIER` handling too. > I did not get...

> How about determine time drone do action at waypoint, sir? (take photo, control gimbal) That would depend on the gimbal and camera you are using. Does it matter? You're...

I think the best you can do is monitor MISSION_ITEM_REACHED, which the autopilot must send whenever it gets to a new item. This is not timestamped, but it would give...