Pathing from home

[AskewParity]

Issue

The pathing code is written to where the first waypoint is assumed to be the plane's current location (or home location).

However, this is not provided in the waypoint list by default, leading to possibly either inefficient flight by ardupilot.

Solution

1. Put the home position in the waypoint mission
   • human enforce (bad)
   • make GCS do it (less bad)
2. Always pull the plane's current location using mavlink to be the first waypoint.