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Mission

The Mission domain loads, controls, and observes autonomous mission plans.

A MissionPlan is an ordered list of steps (waypoints, station-keep, trail-target, and control steps), plus geofences and a safety policy (rules and responses). Steps are a typed union, so each step has exactly the fields it needs.

MissionService provides:

  • Load & control (unary): SetMissionPlan, StartMissionPlan, StopMissionPlan, ResetMissionPlan, ClearMissionPlan, GetMissionPlan.
  • Observe (server stream): StreamMissionState, StreamMissionRunning, StreamWithinGeofence.

Plans are validated by the server when loaded; the result is returned to you. See Run a mission.