From ffc7f37f12cc8d40bcc8b8d89d02670c4ac3174a Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Tue, 23 Jan 2018 18:09:22 +0100 Subject: [PATCH] mavlink_mission: don't retransmit automatically 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. --- src/modules/mavlink/mavlink_mission.cpp | 32 ++----------------------- src/modules/mavlink/mavlink_mission.h | 5 ++-- 2 files changed, 4 insertions(+), 33 deletions(-) diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index 5f2d5b4a0f..07d9be73b2 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -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(&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; } } diff --git a/src/modules/mavlink/mavlink_mission.h b/src/modules/mavlink/mavlink_mission.h index 8fe20fb0c0..fd85e8c1ec 100644 --- a/src/modules/mavlink/mavlink_mission.h +++ b/src/modules/mavlink/mavlink_mission.h @@ -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