APM currently requires a two step process to set a guided point (set mode guided then submit a guided location), which suffers a couple of key problems, it can take some time to set the location and falls apart rather badly in a poor communication scenario.
@tridge mentioned that @LorenzMeier was working on a common replacement message for all vehicles to use, and I was wondering if the messages had been decided upon and were available? I'm looking to fix up the APM:Plane implementation at the moment, and would like to just do it the common way.
The closest I found that addressed the need was https://pixhawk.ethz.ch/mavlink/#SET_POSITION_TARGET_GLOBAL_INT but I'm not sure if thats the new message or something that is in the process of being phased out.
As a user my biggest concerns are to be able to enter guided as well as fly to a specific point with a single message to the aircraft. I know that from past discussions with @tridge about the use of follow me, that its worth being able to not automatically enter guided as well (in case the safety pilot is trying to take over for example), so that behavior should be optional and encoded into the message. Past that I'm a bit taken aback at the duplicate SET_POSITION_TARGET_* messages there are as it seems like we should be able to just use a single coordinate frame type indicator rather then having multiple messages.
Just wondering if the new guided mode commands have been decided or not, and if not what needs to be done to get them available.