mission: rename delay argument to duration for hold action

And add a check to exclude ^internal:* from action arguments

Author: bkueng

mission/schema.yaml

@@ -47,6 +47,10 @@ properties:
               description: |
                 Optional ID of the mission item, can be set to an arbitrary string
               type: string
+            type:
+              type: string
+              not:
+                pattern: "^internal:"
           allOf:
             - if:
                 properties:
@@ -152,9 +156,9 @@ properties:
                 description: |
                   Enter Hold (aka Loiter) for a certain duration
                 properties:
-                  delay:
+                  duration:
                     description: |
-                      Delay in seconds. Default: 1 second
+                      Duration in seconds. Default: 1 second
                     type: number
                     minimum: 0
 

px4_ros2_cpp/include/px4_ros2/mission/actions/default_actions.hpp

@@ -94,13 +94,13 @@ class Hold : public ActionInterface
     const std::shared_ptr<ActionHandler> & handler, const ActionArguments & arguments,
     const std::function<void()> & on_completed) override
   {
-    float delay_s = 1.0f;
-    if (arguments.contains("delay")) {
-      delay_s = arguments.at<float>("delay");
+    float duration_s = 1.0f;
+    if (arguments.contains("duration")) {
+      duration_s = arguments.at<float>("duration");
     }
     handler->runMode(ModeBase::kModeIDLoiter, [] {});
     _timer = _node.create_wall_timer(
-      std::chrono::duration<float>(delay_s), [this, on_completed] {
+      std::chrono::duration<float>(duration_s), [this, on_completed] {
         _timer.reset();
         on_completed();
       });