How to add a new flight mode in px4 and use MAV link to control the aircraft in this mode

PX4 Autopilot Flight Controllers 💻
1

I want to add something to the px4 code that allows me to control the aircraft, and now there are some questions.How to add a new flight mode in px4 and use MAV link to control the aircraft in this mode?

2

There is no complete documentation on how to add a new flight mode.
Depending on what you’re trying to achieve, that might not be needed. Have you looked into offboard control through MAVROS or Dronecore?

4

I want to write a code in pixhawk to control the take-off and landing of the plane by mavlink.but I don’t know what to do.

5

Can you be more specific about what you want to achieve?

At this point it is not clear to me why uploading missions is not sufficient for you.

6

Now I want to control the aircraft in the takeoff mode to fly a certain distance forward and then fly back to the point of departure. What should I do?