fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 23:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

feat(mavlink): resend MISSION_COUNT when its dropped

Browse Source
This commit is contained in:
ttechnick
2026-03-27 08:41:30 +01:00
committed by Beat Küng
parent b5cc93cebc
commit 6c775c5a81
1 changed files with 9 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_mission.cpp
+9
View File
@@ -564,6 +564,15 @@ MavlinkMissionManager::send()
// try to request item again after timeout
send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq);
} else if (_state == MAVLINK_WPM_STATE_SENDLIST && (_time_last_sent > 0)
&& hrt_elapsed_time(&_time_last_sent) > MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT
&& _transfer_seq == 0) {
// MISSION_COUNT may have been dropped
PX4_DEBUG("WPM: SENDLIST resending MISSION_COUNT (no MISSION_ACK received yet)");
send_mission_count(_transfer_partner_sysid, _transfer_partner_compid, _transfer_count, _mission_type,
get_current_mission_type_crc());
} else if (_state != MAVLINK_WPM_STATE_IDLE && (_time_last_recv > 0)
&& hrt_elapsed_time(&_time_last_recv) > MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT) {