Use raw missions in AutoPilot

- uses MAVSDK::MissionRaw objects for missions
- added new state AZ_DRONE_STATE_MISSION_UPLOADED
- new state is used in AzDroneControllerPlane before waiting for AUTO switch

TODO!!
- move to AzMissionController
- use JSON file instead of hard coded mission items

drone_controller/az_drone_controller.h

@@ -5,6 +5,7 @@
 
 #include <mavsdk/mavsdk.h>
 #include <mavsdk/plugins/action/action.h>
+#include <mavsdk/plugins/mission_raw/mission_raw.h>
 #include <mavsdk/plugins/telemetry/telemetry.h>
 
 #include "az_mission.h"
@@ -19,6 +20,7 @@ typedef enum {
     AZ_DRONE_STATE_GOT_TELEMETRY_MODULE,
     AZ_DRONE_STATE_GOT_ACTION_MODULE,
     AZ_DRONE_STATE_HEALTH_OK,
+    AZ_DRONE_STATE_MISSION_UPLOADED,
     AZ_DRONE_STATE_ARMED,
     AZ_DRONE_STATE_TAKE_OFF,
     AZ_DRONE_STATE_AUTO_MODE_ACTIVATED,
@@ -44,8 +46,18 @@ protected:
     bool stateGetActionModule(void);
     bool stateHealthOk(void);
     bool stateArm(void);
+    bool stateUploadMission(void);
     bool stateTakeoff(void);
     bool stateFlyMission(void);
+    void setRawMission(void);
+    MissionRaw::MissionItem makeRawMissionItem(float latitude_deg1e7,
+                                               float longitude_deg1e7,
+                                               int32_t altitude_m,
+                                               float do_photo,
+                                               MAV_FRAME frame,
+                                               MAV_CMD command,
+                                               float p2 = 0,
+                                               float p3 = 0);
 
     // Slots that are called by the emitted Qt signals.
 protected slots:
@@ -93,7 +105,10 @@ protected:
     shared_ptr<System> mSystem;
     Telemetry *mTelemetry;
     Action *mAction;
+    MissionRaw *mMissionRaw;
     Telemetry::Position mFirstPosition;
     Telemetry::Position mCurrentPosition;
     AzMissionController *mMissionController;
+    bool isCopterType;
+    int mMissionItemSeqNum;
 };