I want to implement this type of mode to px4 1.11. I saw similar examples for 1.15+ versions but structure had heavily changed. I already wrote my algorithm use local positon to just simply heading home to catch gnss or GCS signal again and try to integrate old px4 structure but I couldn’t find any additonal resources about that. I dont think we can put this beside of RTL logic because it is triggered with existence of valid gps so global position. I couldnt make anlaogy between old sturcture and new FlightTask structure. (I found this for manual modes but it didnt help)
Is it enough to make changes in navigator mode without changing commander OR to where should I put my algotrithm OR src/lib/fligth_task?
Is there anyone can help me or point out some resources about that?
What is your suggestions?
Thanks