Make the rover to fulfill tasks

I’m studying the rover firmware. It’s working fine. This is my doubt: is there any way to make the rover to fulfill tasks? Like, if I want it to stop in a waypoint and turn on a light or walk through a whole polygon, and then go to another waypoint and do another task?

If there is a way to do these things, how can I do it?

Thanks for your help :smiley:


Auto mode should be able to do at least some of what you describe. If the LEDs can be controlled through a relay or servo connection then it should be possible to turn them on/off using the DO_SET_RELAY or DO_SET_SERVO mission commands