How to interface PX4 to execute a "minimum jerk" trajectories?

#1

Dear All

I am wondering how is it possible to interface PX4 to execute trajectories which are not composed of waypoints only like polynomial trajectories?

Can we do it using mavlink/mavros or do we have to code it directly in the PX4 stack (meaning that we will have to deveop dedicated mavink messages as well)?

Thank you

Fabrice