navigator: allow mission items with same position (take 2) #14921
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This reverts the addition of a check against mission items that have the same position. This breaks existing MAVSDK implementations where a LOITER_TIME item is set right after a WAYPOINT with the same coordinates. It is an interim hack to allow the vehicle to hold still during a photo is captured. This leaves the check in place for gates where we need to be able to calculate the direction between gate and waypoint.
LorenzMeier
approved these changes
May 18, 2020
Closed
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This reverts the addition of a check against mission items that have the same position. This breaks existing MAVSDK implementations where a LOITER_TIME item is set right after a WAYPOINT with the same coordinates. It is an interim hack to allow the vehicle to hold still
during a photo is captured.
This leaves the check in place for gates where we need to be able to calculate the direction between gate and waypoint.
In my opinion this is a compromise between enabling the gate calculations added by the release and not breaking existing MAVSDK (and maybe other) implementations.
For the future I'm open to tightening to specs to disallow waypoints at the same location and making sure the current use cases can be achieved with existing implementations, DELAY, LOITER, as it makes sense.
Alternative to #14910