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feat(mavlink): resend MISSION_COUNT when its dropped

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ttechnick 2026-03-24 16:03:08 +01:00 committed by Beat Küng
parent b5cc93cebc
commit 6c775c5a81
1 changed files with 9 additions and 0 deletions
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9
src/modules/mavlink/mavlink_mission.cpp
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@ -564,6 +564,15 @@ MavlinkMissionManager::send()
// try to request item again after timeout // try to request item again after timeout
send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq); 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) } else if (_state != MAVLINK_WPM_STATE_IDLE && (_time_last_recv > 0)
&& hrt_elapsed_time(&_time_last_recv) > MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT) { && hrt_elapsed_time(&_time_last_recv) > MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT) {