Add mission creation support

[evan-palmer]

Is your feature request related to a problem? Please describe.
There is currently no support to create missions (series of waypoints) for agents

Describe the solution you'd like
Add an interface that allows Users to create missions

[evan-palmer]

Commands of interest that may be valuable to integrate support for:

• MAV_CMD_DO_JUMP
• MAV_CMD_DO_CHANGE_SPEED
• MAV_CMD_DO_SET_HOME
• MAV_CMD_NAV_WAYPOINT
• MAV_CMD_DO_FLIGHTTERMINATION
• MAV_CMD_DO_CHANGE_ALTITUDE
• MAV_CMD_DO_FENCE_ENABLE
• MAV_CMD_DO_SET_MISSION_CURRENT
• MAV_CMD_MISSION_START
• MAV_CMD_RUN_PREARM_CHECKS
• MAV_CMD_GET_HOME_POSITION
• MAV_CMD_NAV_RALLY_POINT

[evan-palmer]

It could be useful to add support to set waypoints for a "sub-swarm". This could be accomplished by requiring a leader to be set when creating a sub-swarm. Then, when a waypoint is set for the sub-swarm, the waypoint is actually set for the leader, and the followers, follow the leader.

[evan-palmer]

Something useful could be to add support for geolocation-based triggers. The triggers could signal things like swarm algorithms or other swarm behaviors

[evan-palmer]

It may be helpful to integrate support for configuring a swarm mission through configuration files such as YAML files.