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Fixed MAVLink mission transmission

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This commit is contained in:
Lorenz Meier 2015-10-30 18:40:55 +01:00
parent 90798a7cb6
commit fe4c67a781
1 changed files with 10 additions and 11 deletions
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21
src/modules/mavlink/mavlink_mission.cpp
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@ -422,7 +422,9 @@ MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
} else {
_mavlink->send_statustext_critical("REJ. WP CMD: partner id mismatch");
if (_verbose) { warnx("WPM: MISSION_ACK ERROR: rejected, partner ID mismatch"); }
if (_verbose) {
warnx("WPM: MISSION_ACK ERR: ID mismatch");
}
}
}
}
@ -473,13 +475,13 @@ MavlinkMissionManager::handle_mission_request_list(const mavlink_message_t *msg)
if (_state == MAVLINK_WPM_STATE_IDLE || _state == MAVLINK_WPM_STATE_SENDLIST) {
_time_last_recv = hrt_absolute_time();
if (_count > 0) {
_state = MAVLINK_WPM_STATE_SENDLIST;
_transfer_seq = 0;
_transfer_count = _count;
_transfer_partner_sysid = msg->sysid;
_transfer_partner_compid = msg->compid;
_state = MAVLINK_WPM_STATE_SENDLIST;
_transfer_seq = 0;
_transfer_count = _count;
_transfer_partner_sysid = msg->sysid;
_transfer_partner_compid = msg->compid;
if (_count > 0) {
if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST OK, %u mission items to send", _transfer_count); }
} else {
@ -598,9 +600,8 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
/* alternate dataman ID anyway to let navigator know about changes */
update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0);
_mavlink->send_statustext_info("WPM: COUNT 0: CLEAR MISSION");
// TODO send ACK?
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED);
_transfer_in_progress = false;
return;
}
@ -712,8 +713,6 @@ MavlinkMissionManager::handle_mission_item(const mavlink_message_t *msg)
/* got all new mission items successfully */
if (_verbose) { warnx("WPM: MISSION_ITEM got all %u items, current_seq=%u, changing state to MAVLINK_WPM_STATE_IDLE", _transfer_count, _transfer_current_seq); }
_mavlink->send_statustext_info("WPM: Transfer complete.");
_state = MAVLINK_WPM_STATE_IDLE;
if (update_active_mission(_transfer_dataman_id, _transfer_count, _transfer_current_seq) == OK) {