I've been reading everywhere and cannot find any useful/promising information on this topic. I see a few several year old posts about it being in the works but no roadmap or progress. I've had great success using ROS and MAVROS for offboard mission planning and execution, but would like to do this onboard. Through offboard its all message publishing/subscribing but using similar tactics in my onboard program does nothing. I post to topics seemingly similar to the the ones I've used with ROS and I can "listener" to them showing that the messages have been posted but the uav doesn't react them. I'm looking into generating mission waypoints and pushing them into the dataman mission location, but that seems like too much work by comparison, and doesn't allow for navigation in the local frame. If anyone can point me in the right direction that'd be awesome. Thanks in advance for any potential assistance with this matter.