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mavlink_mission: handle concurrent mission count messages

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Konrad
2024-10-08 15:34:51 +02:00
committed by Silvan Fuhrer
parent 7ec4c1419c
commit daf604b361
1 changed files with 9 additions and 3 deletions
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src/modules/mavlink/mavlink_mission.cpp
+9 -3
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@@ -901,7 +901,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
if (_state == MAVLINK_WPM_STATE_IDLE) {
_time_last_recv = hrt_absolute_time();
if (_transfer_in_progress) {
if (_transfer_in_progress) { // Transfer over different mavlink instance. ignore
send_mission_ack(msg->sysid, msg->compid, MAV_MISSION_ERROR);
return;
}
@@ -994,6 +994,13 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
} else if (_state == MAVLINK_WPM_STATE_GETLIST) {
_time_last_recv = hrt_absolute_time();
if (msg->sysid != _transfer_partner_sysid || msg->compid != _transfer_partner_compid) {
PX4_DEBUG("WPM: Request from another partner while receiveing. Ignore");
send_mission_ack(msg->sysid, msg->compid, MAV_MISSION_ERROR);
return;
}
if (_transfer_seq == 0) {
/* looks like our MISSION_REQUEST was lost, try again */
PX4_DEBUG("WPM: MISSION_COUNT %u from ID %u (again)", wpc.count, msg->sysid);
@@ -1015,7 +1022,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
_mavlink.send_statustext_critical("WPM: IGN MISSION_COUNT: Busy\t");
events::send(events::ID("mavlink_mission_ignore_mis_count"), events::Log::Error,
"Mission upload busy, ignoring MISSION_COUNT");
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
send_mission_ack(msg->sysid, msg->compid, MAV_MISSION_ERROR);
return;
}
@@ -1635,7 +1642,6 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
return MAV_MISSION_ACCEPTED;
}
int
MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *mission_item,
mavlink_mission_item_t *mavlink_mission_item)