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mavlink_mission: don't retransmit automatically

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This is an attempt to fix mission upload and download with QGC on a
lossy link. The way it should work according to the protocol on
https://mavlink.io/en/protocol/mission.html is that in general
the ground station should be concerned about timeouts and
retransmission. This means the autopilot does not need to retransmit by
itself but just answer requests.

This seems like it would make the transfer less robust, however, it
actually resolves an edge case where QGC fails to make requests because
it gets spammed by the autopilot and keeps resetting the timeout.
This commit is contained in:
Julian Oes 2018-01-23 18:09:22 +01:00 committed by Lorenz Meier
parent bc3577bd60
commit ffc7f37f12
2 changed files with 4 additions and 33 deletions
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32
src/modules/mavlink/mavlink_mission.cpp
View File

@ -296,8 +296,6 @@ MavlinkMissionManager::send_mission_current(uint16_t seq)
void
MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count, MAV_MISSION_TYPE mission_type)
{
_time_last_sent = hrt_absolute_time();
mavlink_mission_count_t wpc;
wpc.target_system = sysid;
@ -364,8 +362,6 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t
}
if (read_success) {
_time_last_sent = hrt_absolute_time();
if (_int_mode) {
mavlink_mission_item_int_t wp;
format_mavlink_mission_item(&mission_item, reinterpret_cast<mavlink_mission_item_t *>(&wp));
@ -430,8 +426,6 @@ void
MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint16_t seq)
{
if (seq < current_max_item_count()) {
_time_last_sent = hrt_absolute_time();
if (_int_mode) {
mavlink_mission_request_int_t wpr;
wpr.target_system = sysid;
@ -524,29 +518,8 @@ MavlinkMissionManager::send(const hrt_abstime now)
}
/* check for timed-out operations */
if (_state == MAVLINK_WPM_STATE_GETLIST && (_time_last_sent > 0)
&& hrt_elapsed_time(&_time_last_sent) > MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT) {
// 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) {
if (_transfer_seq == 0) {
/* try to send items count again after timeout */
send_mission_count(_transfer_partner_sysid, _transfer_partner_compid, _transfer_count, _mission_type);
} else {
/* try to send item again after timeout */
PX4_DEBUG("WPM: item re-send timeout");
send_mission_item(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq - 1);
}
} else if (_state != MAVLINK_WPM_STATE_IDLE && (_time_last_recv > 0)
&& hrt_elapsed_time(&_time_last_recv) > MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT) {
if (_state != MAVLINK_WPM_STATE_IDLE && (_time_last_recv > 0)
&& hrt_elapsed_time(&_time_last_recv) > _operation_timeout_us) {
_mavlink->send_statustext_critical("Operation timeout");
PX4_DEBUG("WPM: Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", _state);
@ -558,7 +531,6 @@ MavlinkMissionManager::send(const hrt_abstime now)
} else if (_state == MAVLINK_WPM_STATE_IDLE) {
// reset flags
_time_last_sent = 0;
_time_last_recv = 0;
}
}

5
src/modules/mavlink/mavlink_mission.h
View File

@ -67,8 +67,6 @@ enum MAVLINK_WPM_CODES {
MAVLINK_WPM_CODE_ENUM_END
};
static constexpr uint64_t MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT = 5000000; ///< Protocol action timeout in us
static constexpr uint64_t MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT = 500000; ///< Protocol retry timeout in us
class Mavlink;
@ -94,12 +92,13 @@ private:
enum MAV_MISSION_TYPE _mission_type {MAV_MISSION_TYPE_MISSION}; ///< mission type of current transmission (only one at a time possible)
uint64_t _time_last_recv{0};
uint64_t _time_last_sent{0};
uint8_t _reached_sent_count{0}; ///< last time when the vehicle reached a waypoint
bool _int_mode{false}; ///< Use accurate int32 instead of float
static constexpr uint32_t _operation_timeout_us = 5000000;
unsigned _filesystem_errcount{0}; ///< File system error count
static dm_item_t _dataman_id; ///< Global Dataman storage ID for active mission