/**************************************************************************** * * Copyright (c) 2012-2016 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ /** * @file mavlink_mission.cpp * MAVLink mission manager implementation. * * @author Lorenz Meier * @author Julian Oes * @author Anton Babushkin */ #include "mavlink_mission.h" #include "mavlink_main.h" #include #include #include #include #include #include #include #include #include using matrix::wrap_2pi; dm_item_t MavlinkMissionManager::_dataman_id = DM_KEY_WAYPOINTS_OFFBOARD_0; bool MavlinkMissionManager::_dataman_init = false; uint16_t MavlinkMissionManager::_count[3] = { 0, 0, 0 }; int32_t MavlinkMissionManager::_current_seq = 0; bool MavlinkMissionManager::_transfer_in_progress = false; constexpr uint16_t MavlinkMissionManager::MAX_COUNT[]; uint16_t MavlinkMissionManager::_geofence_update_counter = 0; uint16_t MavlinkMissionManager::_safepoint_update_counter = 0; #define CHECK_SYSID_COMPID_MISSION(_msg) (_msg.target_system == mavlink_system.sysid && \ ((_msg.target_component == mavlink_system.compid) || \ (_msg.target_component == MAV_COMP_ID_MISSIONPLANNER) || \ (_msg.target_component == MAV_COMP_ID_ALL))) MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : _mavlink(mavlink) { init_offboard_mission(); } void MavlinkMissionManager::init_offboard_mission() { if (!_dataman_init) { _dataman_init = true; /* lock MISSION_STATE item */ int dm_lock_ret = dm_lock(DM_KEY_MISSION_STATE); if (dm_lock_ret != 0) { PX4_ERR("DM_KEY_MISSION_STATE lock failed"); } mission_s mission_state; int ret = dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s)); /* unlock MISSION_STATE item */ if (dm_lock_ret == 0) { dm_unlock(DM_KEY_MISSION_STATE); } if (ret > 0) { _dataman_id = (dm_item_t)mission_state.dataman_id; _count[MAV_MISSION_TYPE_MISSION] = mission_state.count; _current_seq = mission_state.current_seq; } else if (ret < 0) { PX4_ERR("offboard mission init failed (%i)", ret); } load_geofence_stats(); load_safepoint_stats(); } _my_dataman_id = _dataman_id; } int MavlinkMissionManager::load_geofence_stats() { mission_stats_entry_s stats; // initialize fence points count int ret = dm_read(DM_KEY_FENCE_POINTS, 0, &stats, sizeof(mission_stats_entry_s)); if (ret == sizeof(mission_stats_entry_s)) { _count[MAV_MISSION_TYPE_FENCE] = stats.num_items; _geofence_update_counter = stats.update_counter; } return ret; } int MavlinkMissionManager::load_safepoint_stats() { mission_stats_entry_s stats; // initialize safe points count int ret = dm_read(DM_KEY_SAFE_POINTS, 0, &stats, sizeof(mission_stats_entry_s)); if (ret == sizeof(mission_stats_entry_s)) { _count[MAV_MISSION_TYPE_RALLY] = stats.num_items; } return ret; } /** * Publish mission topic to notify navigator about changes. */ int MavlinkMissionManager::update_active_mission(dm_item_t dataman_id, uint16_t count, int32_t seq) { // We want to make sure the whole struct is initialized including padding before getting written by dataman. mission_s mission {}; mission.timestamp = hrt_absolute_time(); mission.dataman_id = dataman_id; mission.count = count; mission.current_seq = seq; /* update mission state in dataman */ /* lock MISSION_STATE item */ int dm_lock_ret = dm_lock(DM_KEY_MISSION_STATE); if (dm_lock_ret != 0) { PX4_ERR("DM_KEY_MISSION_STATE lock failed"); } int res = dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission, sizeof(mission_s)); /* unlock MISSION_STATE item */ if (dm_lock_ret == 0) { dm_unlock(DM_KEY_MISSION_STATE); } if (res == sizeof(mission_s)) { /* update active mission state */ _dataman_id = dataman_id; _count[MAV_MISSION_TYPE_MISSION] = count; _current_seq = seq; _my_dataman_id = _dataman_id; /* mission state saved successfully, publish offboard_mission topic */ _offboard_mission_pub.publish(mission); return PX4_OK; } else { PX4_ERR("WPM: can't save mission state"); if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) { _mavlink->send_statustext_critical("Mission storage: Unable to write to microSD"); } return PX4_ERROR; } } int MavlinkMissionManager::update_geofence_count(unsigned count) { mission_stats_entry_s stats; stats.num_items = count; stats.update_counter = ++_geofence_update_counter; // this makes sure navigator will reload the fence data /* update stats in dataman */ int res = dm_write(DM_KEY_FENCE_POINTS, 0, DM_PERSIST_POWER_ON_RESET, &stats, sizeof(mission_stats_entry_s)); if (res == sizeof(mission_stats_entry_s)) { _count[MAV_MISSION_TYPE_FENCE] = count; } else { if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) { _mavlink->send_statustext_critical("Mission storage: Unable to write to microSD"); } return PX4_ERROR; } return PX4_OK; } int MavlinkMissionManager::update_safepoint_count(unsigned count) { mission_stats_entry_s stats; stats.num_items = count; stats.update_counter = ++_safepoint_update_counter; /* update stats in dataman */ int res = dm_write(DM_KEY_SAFE_POINTS, 0, DM_PERSIST_POWER_ON_RESET, &stats, sizeof(mission_stats_entry_s)); if (res == sizeof(mission_stats_entry_s)) { _count[MAV_MISSION_TYPE_RALLY] = count; } else { if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) { _mavlink->send_statustext_critical("Mission storage: Unable to write to microSD"); } return PX4_ERROR; } return PX4_OK; } void MavlinkMissionManager::send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t type) { mavlink_mission_ack_t wpa; wpa.target_system = sysid; wpa.target_component = compid; wpa.type = type; wpa.mission_type = _mission_type; mavlink_msg_mission_ack_send_struct(_mavlink->get_channel(), &wpa); PX4_DEBUG("WPM: Send MISSION_ACK type %u to ID %u", wpa.type, wpa.target_system); } void MavlinkMissionManager::send_mission_current(uint16_t seq) { unsigned item_count = _count[MAV_MISSION_TYPE_MISSION]; if (seq < item_count) { mavlink_mission_current_t wpc; wpc.seq = seq; mavlink_msg_mission_current_send_struct(_mavlink->get_channel(), &wpc); } else if (seq == 0 && item_count == 0) { /* don't broadcast if no WPs */ } else { PX4_DEBUG("WPM: Send MISSION_CURRENT ERROR: seq %u out of bounds", seq); _mavlink->send_statustext_critical("ERROR: wp index out of bounds"); } } 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; wpc.target_component = compid; wpc.count = count; wpc.mission_type = mission_type; mavlink_msg_mission_count_send_struct(_mavlink->get_channel(), &wpc); PX4_DEBUG("WPM: Send MISSION_COUNT %u to ID %u, mission type=%i", wpc.count, wpc.target_system, mission_type); } void MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq) { mission_item_s mission_item = {}; bool read_success = false; switch (_mission_type) { case MAV_MISSION_TYPE_MISSION: { read_success = dm_read(_dataman_id, seq, &mission_item, sizeof(mission_item_s)) == sizeof(mission_item_s); } break; case MAV_MISSION_TYPE_FENCE: { // Read a geofence point mission_fence_point_s mission_fence_point; read_success = dm_read(DM_KEY_FENCE_POINTS, seq + 1, &mission_fence_point, sizeof(mission_fence_point_s)) == sizeof(mission_fence_point_s); mission_item.nav_cmd = mission_fence_point.nav_cmd; mission_item.frame = mission_fence_point.frame; mission_item.lat = mission_fence_point.lat; mission_item.lon = mission_fence_point.lon; mission_item.altitude = mission_fence_point.alt; if (mission_fence_point.nav_cmd == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION || mission_fence_point.nav_cmd == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION) { mission_item.vertex_count = mission_fence_point.vertex_count; } else { mission_item.circle_radius = mission_fence_point.circle_radius; } } break; case MAV_MISSION_TYPE_RALLY: { // Read a safe point / rally point mission_save_point_s mission_save_point; read_success = dm_read(DM_KEY_SAFE_POINTS, seq + 1, &mission_save_point, sizeof(mission_save_point_s)) == sizeof(mission_save_point_s); mission_item.nav_cmd = MAV_CMD_NAV_RALLY_POINT; mission_item.frame = mission_save_point.frame; mission_item.lat = mission_save_point.lat; mission_item.lon = mission_save_point.lon; mission_item.altitude = mission_save_point.alt; } break; default: _mavlink->send_statustext_critical("Received unknown mission type, abort."); break; } 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)); wp.target_system = sysid; wp.target_component = compid; wp.seq = seq; wp.current = (_current_seq == seq) ? 1 : 0; mavlink_msg_mission_item_int_send_struct(_mavlink->get_channel(), &wp); PX4_DEBUG("WPM: Send MISSION_ITEM_INT seq %u to ID %u", wp.seq, wp.target_system); } else { mavlink_mission_item_t wp = {}; format_mavlink_mission_item(&mission_item, &wp); wp.target_system = sysid; wp.target_component = compid; wp.seq = seq; wp.current = (_current_seq == seq) ? 1 : 0; mavlink_msg_mission_item_send_struct(_mavlink->get_channel(), &wp); PX4_DEBUG("WPM: Send MISSION_ITEM seq %u to ID %u", wp.seq, wp.target_system); } } else { send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) { _mavlink->send_statustext_critical("Mission storage: Unable to read from microSD"); } PX4_DEBUG("WPM: Send MISSION_ITEM ERROR: could not read seq %u from dataman ID %i", seq, _dataman_id); } } uint16_t MavlinkMissionManager::current_max_item_count() { if (_mission_type >= sizeof(MAX_COUNT) / sizeof(MAX_COUNT[0])) { PX4_ERR("WPM: MAX_COUNT out of bounds (%u)", _mission_type); return 0; } return MAX_COUNT[_mission_type]; } uint16_t MavlinkMissionManager::current_item_count() { if (_mission_type >= sizeof(_count) / sizeof(_count[0])) { PX4_ERR("WPM: _count out of bounds (%u)", _mission_type); return 0; } return _count[_mission_type]; } 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; wpr.target_component = compid; wpr.seq = seq; wpr.mission_type = _mission_type; mavlink_msg_mission_request_int_send_struct(_mavlink->get_channel(), &wpr); PX4_DEBUG("WPM: Send MISSION_REQUEST_INT seq %u to ID %u", wpr.seq, wpr.target_system); } else { mavlink_mission_request_t wpr; wpr.target_system = sysid; wpr.target_component = compid; wpr.seq = seq; wpr.mission_type = _mission_type; mavlink_msg_mission_request_send_struct(_mavlink->get_channel(), &wpr); PX4_DEBUG("WPM: Send MISSION_REQUEST seq %u to ID %u", wpr.seq, wpr.target_system); } } else { _mavlink->send_statustext_critical("ERROR: Waypoint index exceeds list capacity"); PX4_DEBUG("WPM: Send MISSION_REQUEST ERROR: seq %u exceeds list capacity", seq); } } void MavlinkMissionManager::send_mission_item_reached(uint16_t seq) { mavlink_mission_item_reached_t wp_reached; wp_reached.seq = seq; mavlink_msg_mission_item_reached_send_struct(_mavlink->get_channel(), &wp_reached); PX4_DEBUG("WPM: Send MISSION_ITEM_REACHED reached_seq %u", wp_reached.seq); } void MavlinkMissionManager::send(const hrt_abstime now) { // do not send anything over high latency communication if (_mavlink->get_mode() == Mavlink::MAVLINK_MODE_IRIDIUM) { return; } mission_result_s mission_result{}; if (_mission_result_sub.update(&mission_result)) { if (_current_seq != mission_result.seq_current) { _current_seq = mission_result.seq_current; PX4_DEBUG("WPM: got mission result, new current_seq: %u", _current_seq); } if (_last_reached != mission_result.seq_reached) { _last_reached = mission_result.seq_reached; _reached_sent_count = 0; if (_last_reached >= 0) { send_mission_item_reached((uint16_t)mission_result.seq_reached); } PX4_DEBUG("WPM: got mission result, new seq_reached: %d", _last_reached); } send_mission_current(_current_seq); if (mission_result.item_do_jump_changed) { /* send a mission item again if the remaining DO_JUMPs has changed */ send_mission_item(_transfer_partner_sysid, _transfer_partner_compid, (uint16_t)mission_result.item_changed_index); } } else { if (_slow_rate_limiter.check(now)) { send_mission_current(_current_seq); // send the reached message another 10 times if (_last_reached >= 0 && (_reached_sent_count < 10)) { send_mission_item_reached((uint16_t)_last_reached); _reached_sent_count++; } } } /* 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_IDLE && (_time_last_recv > 0) && hrt_elapsed_time(&_time_last_recv) > MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT) { _mavlink->send_statustext_critical("Operation timeout"); PX4_DEBUG("WPM: Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", _state); switch_to_idle_state(); // since we are giving up, reset this state also, so another request can be started. _transfer_in_progress = false; } else if (_state == MAVLINK_WPM_STATE_IDLE) { // reset flags _time_last_sent = 0; _time_last_recv = 0; } } void MavlinkMissionManager::handle_message(const mavlink_message_t *msg) { switch (msg->msgid) { case MAVLINK_MSG_ID_MISSION_ACK: handle_mission_ack(msg); break; case MAVLINK_MSG_ID_MISSION_SET_CURRENT: handle_mission_set_current(msg); break; case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: handle_mission_request_list(msg); break; case MAVLINK_MSG_ID_MISSION_REQUEST: handle_mission_request(msg); break; case MAVLINK_MSG_ID_MISSION_REQUEST_INT: handle_mission_request_int(msg); break; case MAVLINK_MSG_ID_MISSION_COUNT: handle_mission_count(msg); break; case MAVLINK_MSG_ID_MISSION_ITEM: handle_mission_item(msg); break; case MAVLINK_MSG_ID_MISSION_ITEM_INT: handle_mission_item_int(msg); break; case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: handle_mission_clear_all(msg); break; default: break; } } void MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg) { mavlink_mission_ack_t wpa; mavlink_msg_mission_ack_decode(msg, &wpa); if (CHECK_SYSID_COMPID_MISSION(wpa)) { if ((msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid)) { if (_state == MAVLINK_WPM_STATE_SENDLIST && _mission_type == wpa.mission_type) { _time_last_recv = hrt_absolute_time(); if (_transfer_seq == current_item_count()) { PX4_DEBUG("WPM: MISSION_ACK OK all items sent, switch to state IDLE"); } else { _mavlink->send_statustext_critical("WPM: ERR: not all items sent -> IDLE"); PX4_DEBUG("WPM: MISSION_ACK ERROR: not all items sent, switch to state IDLE anyway"); } switch_to_idle_state(); } else if (_state == MAVLINK_WPM_STATE_GETLIST) { // INT or float mode is not supported if (wpa.type == MAV_MISSION_UNSUPPORTED) { if (_int_mode) { _int_mode = false; send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq); } else { _int_mode = true; send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq); } } else if (wpa.type != MAV_MISSION_ACCEPTED) { PX4_WARN("Mission ack result was %d", wpa.type); } } } else { _mavlink->send_statustext_critical("REJ. WP CMD: partner id mismatch"); PX4_DEBUG("WPM: MISSION_ACK ERR: ID mismatch"); } } } void MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg) { mavlink_mission_set_current_t wpc; mavlink_msg_mission_set_current_decode(msg, &wpc); if (CHECK_SYSID_COMPID_MISSION(wpc)) { if (_state == MAVLINK_WPM_STATE_IDLE) { _time_last_recv = hrt_absolute_time(); if (wpc.seq < _count[MAV_MISSION_TYPE_MISSION]) { if (update_active_mission(_dataman_id, _count[MAV_MISSION_TYPE_MISSION], wpc.seq) == PX4_OK) { PX4_DEBUG("WPM: MISSION_SET_CURRENT seq=%d OK", wpc.seq); } else { PX4_DEBUG("WPM: MISSION_SET_CURRENT seq=%d ERROR", wpc.seq); _mavlink->send_statustext_critical("WPM: WP CURR CMD: Error setting ID"); } } else { PX4_ERR("WPM: MISSION_SET_CURRENT seq=%d ERROR: not in list", wpc.seq); _mavlink->send_statustext_critical("WPM: WP CURR CMD: Not in list"); } } else { PX4_DEBUG("WPM: MISSION_SET_CURRENT ERROR: busy"); _mavlink->send_statustext_critical("WPM: IGN WP CURR CMD: Busy"); } } } void MavlinkMissionManager::handle_mission_request_list(const mavlink_message_t *msg) { mavlink_mission_request_list_t wprl; mavlink_msg_mission_request_list_decode(msg, &wprl); if (CHECK_SYSID_COMPID_MISSION(wprl)) { if (_state == MAVLINK_WPM_STATE_IDLE || (_state == MAVLINK_WPM_STATE_SENDLIST && (uint8_t)_mission_type == wprl.mission_type)) { _time_last_recv = hrt_absolute_time(); _state = MAVLINK_WPM_STATE_SENDLIST; _mission_type = (MAV_MISSION_TYPE)wprl.mission_type; // make sure our item counts are up-to-date switch (_mission_type) { case MAV_MISSION_TYPE_FENCE: load_geofence_stats(); break; case MAV_MISSION_TYPE_RALLY: load_safepoint_stats(); break; default: break; } _transfer_seq = 0; _transfer_count = current_item_count(); _transfer_partner_sysid = msg->sysid; _transfer_partner_compid = msg->compid; if (_transfer_count > 0) { PX4_DEBUG("WPM: MISSION_REQUEST_LIST OK, %u mission items to send, mission type=%i", _transfer_count, _mission_type); } else { PX4_DEBUG("WPM: MISSION_REQUEST_LIST OK nothing to send, mission is empty, mission type=%i", _mission_type); } send_mission_count(msg->sysid, msg->compid, _transfer_count, _mission_type); } else { PX4_DEBUG("WPM: MISSION_REQUEST_LIST ERROR: busy"); _mavlink->send_statustext_critical("IGN REQUEST LIST: Busy"); } } } void MavlinkMissionManager::handle_mission_request(const mavlink_message_t *msg) { // The request comes in the old float mode, so we switch to it. if (_int_mode) { _int_mode = false; } handle_mission_request_both(msg); } void MavlinkMissionManager::handle_mission_request_int(const mavlink_message_t *msg) { // The request comes in the new int mode, so we switch to it. if (!_int_mode) { _int_mode = true; } handle_mission_request_both(msg); } void MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg) { /* The mavlink_message_t could also be a mavlink_mission_request_int_t, however the structs * are basically the same, so we can ignore it. */ mavlink_mission_request_t wpr; mavlink_msg_mission_request_decode(msg, &wpr); if (CHECK_SYSID_COMPID_MISSION(wpr)) { if (msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid) { if (_state == MAVLINK_WPM_STATE_SENDLIST) { if (_mission_type != wpr.mission_type) { PX4_WARN("WPM: Unexpected mission type (%u %u)", wpr.mission_type, _mission_type); return; } _time_last_recv = hrt_absolute_time(); /* _transfer_seq contains sequence of expected request */ if (wpr.seq == _transfer_seq && _transfer_seq < _transfer_count) { PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) seq %u from ID %u", wpr.seq, msg->sysid); _transfer_seq++; } else if (wpr.seq == _transfer_seq - 1) { PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) seq %u from ID %u (again)", wpr.seq, msg->sysid); } else { if (_transfer_seq > 0 && _transfer_seq < _transfer_count) { PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u from ID %u unexpected, must be %i or %i", wpr.seq, msg->sysid, _transfer_seq - 1, _transfer_seq); } else if (_transfer_seq <= 0) { PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid, _transfer_seq); } else { PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid, _transfer_seq - 1); } switch_to_idle_state(); send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); _mavlink->send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected"); return; } /* double check bounds in case of items count changed */ if (wpr.seq < current_item_count()) { send_mission_item(_transfer_partner_sysid, _transfer_partner_compid, wpr.seq); } else { PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u out of bound [%u, %u]", wpr.seq, wpr.seq, current_item_count() - 1); switch_to_idle_state(); send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); _mavlink->send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected"); } } else if (_state == MAVLINK_WPM_STATE_IDLE) { PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: no transfer"); // Silently ignore this as some OSDs have buggy mission protocol implementations //_mavlink->send_statustext_critical("IGN MISSION_ITEM_REQUEST(_INT): No active transfer"); } else { PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: busy (state %d).", _state); _mavlink->send_statustext_critical("WPM: REJ. CMD: Busy"); } } else { _mavlink->send_statustext_critical("WPM: REJ. CMD: partner id mismatch"); PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: rejected, partner ID mismatch"); } } } void MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg) { mavlink_mission_count_t wpc; mavlink_msg_mission_count_decode(msg, &wpc); if (CHECK_SYSID_COMPID_MISSION(wpc)) { if (_state == MAVLINK_WPM_STATE_IDLE) { _time_last_recv = hrt_absolute_time(); if (_transfer_in_progress) { send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); return; } _transfer_in_progress = true; _mission_type = (MAV_MISSION_TYPE)wpc.mission_type; if (wpc.count > current_max_item_count()) { PX4_DEBUG("WPM: MISSION_COUNT ERROR: too many waypoints (%d), supported: %d", wpc.count, current_max_item_count()); send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_NO_SPACE); _transfer_in_progress = false; return; } if (wpc.count == 0) { PX4_DEBUG("WPM: MISSION_COUNT 0, clearing waypoints list and staying in state MAVLINK_WPM_STATE_IDLE"); switch (_mission_type) { case MAV_MISSION_TYPE_MISSION: /* alternate dataman ID anyway to let navigator know about changes */ if (_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0) { update_active_mission(DM_KEY_WAYPOINTS_OFFBOARD_1, 0, 0); } else { update_active_mission(DM_KEY_WAYPOINTS_OFFBOARD_0, 0, 0); } break; case MAV_MISSION_TYPE_FENCE: update_geofence_count(0); break; case MAV_MISSION_TYPE_RALLY: update_safepoint_count(0); break; default: PX4_ERR("mission type %u not handled", _mission_type); break; } send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED); _transfer_in_progress = false; return; } PX4_DEBUG("WPM: MISSION_COUNT %u from ID %u, changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); _state = MAVLINK_WPM_STATE_GETLIST; _transfer_seq = 0; _transfer_partner_sysid = msg->sysid; _transfer_partner_compid = msg->compid; _transfer_count = wpc.count; _transfer_dataman_id = (_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 ? DM_KEY_WAYPOINTS_OFFBOARD_1 : DM_KEY_WAYPOINTS_OFFBOARD_0); // use inactive storage for transmission _transfer_current_seq = -1; if (_mission_type == MAV_MISSION_TYPE_FENCE) { // We're about to write new geofence items, so take the lock. It will be released when // switching back to idle PX4_DEBUG("locking fence dataman items"); int ret = dm_lock(DM_KEY_FENCE_POINTS); if (ret == 0) { _geofence_locked = true; } else { PX4_ERR("locking failed (%i)", errno); } } } else if (_state == MAVLINK_WPM_STATE_GETLIST) { _time_last_recv = hrt_absolute_time(); 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); } else { PX4_DEBUG("WPM: MISSION_COUNT ERROR: busy, already receiving seq %u", _transfer_seq); _mavlink->send_statustext_critical("WPM: REJ. CMD: Busy"); send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); return; } } else { PX4_DEBUG("WPM: MISSION_COUNT ERROR: busy, state %i", _state); _mavlink->send_statustext_critical("WPM: IGN MISSION_COUNT: Busy"); send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); return; } send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq); } } void MavlinkMissionManager::switch_to_idle_state() { // when switching to idle, we *always* check if the lock was held and release it. // This is to ensure we don't end up in a state where we forget to release it. if (_geofence_locked) { dm_unlock(DM_KEY_FENCE_POINTS); _geofence_locked = false; PX4_DEBUG("unlocking geofence"); } _state = MAVLINK_WPM_STATE_IDLE; } void MavlinkMissionManager::handle_mission_item(const mavlink_message_t *msg) { if (_int_mode) { // It seems that we should be using the float mode, let's switch out of int mode. _int_mode = false; } handle_mission_item_both(msg); } void MavlinkMissionManager::handle_mission_item_int(const mavlink_message_t *msg) { if (!_int_mode) { // It seems that we should be using the int mode, let's switch to it. _int_mode = true; } handle_mission_item_both(msg); } void MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg) { // The mavlink_message could also contain a mavlink_mission_item_int_t. We ignore that here // and take care of it later in parse_mavlink_mission_item depending on _int_mode. mavlink_mission_item_t wp; mavlink_msg_mission_item_decode(msg, &wp); if (CHECK_SYSID_COMPID_MISSION(wp)) { if (wp.mission_type != _mission_type) { PX4_WARN("WPM: Unexpected mission type (%u %u)", (int)wp.mission_type, (int)_mission_type); send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); return; } if (_state == MAVLINK_WPM_STATE_GETLIST) { _time_last_recv = hrt_absolute_time(); if (wp.seq != _transfer_seq) { PX4_DEBUG("WPM: MISSION_ITEM ERROR: seq %u was not the expected %u", wp.seq, _transfer_seq); /* request next item again */ send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq); return; } } else if (_state == MAVLINK_WPM_STATE_IDLE) { if (_transfer_seq == wp.seq + 1) { // Assume this is a duplicate, where we already successfully got all mission items, // but the GCS did not receive the last ack and sent the same item again send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED); } else { PX4_DEBUG("WPM: MISSION_ITEM ERROR: no transfer"); _mavlink->send_statustext_critical("IGN MISSION_ITEM: No transfer"); send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); } return; } else { PX4_DEBUG("WPM: MISSION_ITEM ERROR: busy, state %i", _state); _mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy"); send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); return; } struct mission_item_s mission_item = {}; int ret = parse_mavlink_mission_item(&wp, &mission_item); if (ret != PX4_OK) { PX4_DEBUG("WPM: MISSION_ITEM ERROR: seq %u invalid item", wp.seq); _mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy"); send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, ret); switch_to_idle_state(); _transfer_in_progress = false; return; } bool write_failed = false; bool check_failed = false; switch (_mission_type) { case MAV_MISSION_TYPE_MISSION: { // check that we don't get a wrong item (hardening against wrong client implementations, the list here // does not need to be complete) if (mission_item.nav_cmd == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION || mission_item.nav_cmd == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION || mission_item.nav_cmd == MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION || mission_item.nav_cmd == MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION || mission_item.nav_cmd == MAV_CMD_NAV_RALLY_POINT) { check_failed = true; } else { dm_item_t dm_item = _transfer_dataman_id; write_failed = dm_write(dm_item, wp.seq, DM_PERSIST_POWER_ON_RESET, &mission_item, sizeof(struct mission_item_s)) != sizeof(struct mission_item_s); if (!write_failed) { /* waypoint marked as current */ if (wp.current) { _transfer_current_seq = wp.seq; } } } } break; case MAV_MISSION_TYPE_FENCE: { // Write a geofence point mission_fence_point_s mission_fence_point; mission_fence_point.nav_cmd = mission_item.nav_cmd; mission_fence_point.lat = mission_item.lat; mission_fence_point.lon = mission_item.lon; mission_fence_point.alt = mission_item.altitude; if (mission_item.nav_cmd == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION || mission_item.nav_cmd == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION) { mission_fence_point.vertex_count = mission_item.vertex_count; if (mission_item.vertex_count < 3) { // feasibility check PX4_ERR("Fence: too few vertices"); check_failed = true; update_geofence_count(0); } } else { mission_fence_point.circle_radius = mission_item.circle_radius; } mission_fence_point.frame = mission_item.frame; if (!check_failed) { write_failed = dm_write(DM_KEY_FENCE_POINTS, wp.seq + 1, DM_PERSIST_POWER_ON_RESET, &mission_fence_point, sizeof(mission_fence_point_s)) != sizeof(mission_fence_point_s); } } break; case MAV_MISSION_TYPE_RALLY: { // Write a safe point / rally point mission_save_point_s mission_save_point; mission_save_point.lat = mission_item.lat; mission_save_point.lon = mission_item.lon; mission_save_point.alt = mission_item.altitude; mission_save_point.frame = mission_item.frame; write_failed = dm_write(DM_KEY_SAFE_POINTS, wp.seq + 1, DM_PERSIST_POWER_ON_RESET, &mission_save_point, sizeof(mission_save_point_s)) != sizeof(mission_save_point_s); } break; default: _mavlink->send_statustext_critical("Received unknown mission type, abort."); break; } if (write_failed || check_failed) { PX4_DEBUG("WPM: MISSION_ITEM ERROR: error writing seq %u to dataman ID %i", wp.seq, _transfer_dataman_id); send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); if (write_failed) { _mavlink->send_statustext_critical("Unable to write on micro SD"); } switch_to_idle_state(); _transfer_in_progress = false; return; } /* waypoint marked as current */ if (wp.current) { _transfer_current_seq = wp.seq; } PX4_DEBUG("WPM: MISSION_ITEM seq %u received", wp.seq); _transfer_seq = wp.seq + 1; if (_transfer_seq == _transfer_count) { /* got all new mission items successfully */ PX4_DEBUG("WPM: MISSION_ITEM got all %u items, current_seq=%u, changing state to MAVLINK_WPM_STATE_IDLE", _transfer_count, _transfer_current_seq); ret = 0; switch (_mission_type) { case MAV_MISSION_TYPE_MISSION: ret = update_active_mission(_transfer_dataman_id, _transfer_count, _transfer_current_seq); break; case MAV_MISSION_TYPE_FENCE: ret = update_geofence_count(_transfer_count); break; case MAV_MISSION_TYPE_RALLY: ret = update_safepoint_count(_transfer_count); break; default: PX4_ERR("mission type %u not handled", _mission_type); break; } // Note: the switch to idle needs to happen after update_geofence_count is called, for proper unlocking order switch_to_idle_state(); if (ret == PX4_OK) { send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED); } else { send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); } _transfer_in_progress = false; } else { /* request next item */ send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq); } } } void MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg) { mavlink_mission_clear_all_t wpca; mavlink_msg_mission_clear_all_decode(msg, &wpca); if (CHECK_SYSID_COMPID_MISSION(wpca)) { if (_state == MAVLINK_WPM_STATE_IDLE) { /* don't touch mission items storage itself, but only items count in mission state */ _time_last_recv = hrt_absolute_time(); _mission_type = (MAV_MISSION_TYPE)wpca.mission_type; // this is needed for the returned ack int ret = 0; switch (wpca.mission_type) { case MAV_MISSION_TYPE_MISSION: ret = update_active_mission(_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 ? DM_KEY_WAYPOINTS_OFFBOARD_1 : DM_KEY_WAYPOINTS_OFFBOARD_0, 0, 0); break; case MAV_MISSION_TYPE_FENCE: ret = update_geofence_count(0); break; case MAV_MISSION_TYPE_RALLY: ret = update_safepoint_count(0); break; case MAV_MISSION_TYPE_ALL: ret = update_active_mission(_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 ? DM_KEY_WAYPOINTS_OFFBOARD_1 : DM_KEY_WAYPOINTS_OFFBOARD_0, 0, 0); ret = update_geofence_count(0) || ret; ret = update_safepoint_count(0) || ret; break; default: PX4_ERR("mission type %u not handled", _mission_type); break; } if (ret == PX4_OK) { PX4_DEBUG("WPM: CLEAR_ALL OK (mission_type=%i)", _mission_type); send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED); } else { send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); } } else { _mavlink->send_statustext_critical("WPM: IGN CLEAR CMD: Busy"); PX4_DEBUG("WPM: CLEAR_ALL IGNORED: busy"); } } } int MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item) { if (mavlink_mission_item->frame == MAV_FRAME_GLOBAL || mavlink_mission_item->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT || (_int_mode && (mavlink_mission_item->frame == MAV_FRAME_GLOBAL_INT || mavlink_mission_item->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT))) { // Switch to int mode if that is what we are receiving if ((mavlink_mission_item->frame == MAV_FRAME_GLOBAL_INT || mavlink_mission_item->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT)) { _int_mode = true; } if (_int_mode) { /* The argument is actually a mavlink_mission_item_int_t in int_mode. * mavlink_mission_item_t and mavlink_mission_item_int_t have the same * alignment, so we can just swap float for int32_t. */ const mavlink_mission_item_int_t *item_int = reinterpret_cast(mavlink_mission_item); mission_item->lat = ((double)item_int->x) * 1e-7; mission_item->lon = ((double)item_int->y) * 1e-7; } else { mission_item->lat = (double)mavlink_mission_item->x; mission_item->lon = (double)mavlink_mission_item->y; } mission_item->altitude = mavlink_mission_item->z; if (mavlink_mission_item->frame == MAV_FRAME_GLOBAL || mavlink_mission_item->frame == MAV_FRAME_GLOBAL_INT) { mission_item->altitude_is_relative = false; } else if (mavlink_mission_item->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT || mavlink_mission_item->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) { mission_item->altitude_is_relative = true; } /* this field is shared with pitch_min (and circle_radius for geofence) in memory and * exclusive in the MAVLink spec. Set it to 0 first * and then set minimum pitch later only for the * corresponding item */ mission_item->time_inside = 0.0f; switch (mavlink_mission_item->command) { case MAV_CMD_NAV_WAYPOINT: mission_item->nav_cmd = NAV_CMD_WAYPOINT; mission_item->time_inside = mavlink_mission_item->param1; mission_item->acceptance_radius = mavlink_mission_item->param2; mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4)); break; case MAV_CMD_NAV_LOITER_UNLIM: mission_item->nav_cmd = NAV_CMD_LOITER_UNLIMITED; mission_item->loiter_radius = mavlink_mission_item->param3; mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4)); break; case MAV_CMD_NAV_LOITER_TIME: mission_item->nav_cmd = NAV_CMD_LOITER_TIME_LIMIT; mission_item->time_inside = mavlink_mission_item->param1; mission_item->loiter_radius = mavlink_mission_item->param3; mission_item->loiter_exit_xtrack = (mavlink_mission_item->param4 > 0); // Yaw is only valid for multicopter but we set it always because // it's just ignored for fixedwing. mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4)); break; case MAV_CMD_NAV_LAND: mission_item->nav_cmd = NAV_CMD_LAND; // TODO: abort alt param1 mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4)); mission_item->land_precision = mavlink_mission_item->param2; break; case MAV_CMD_NAV_TAKEOFF: mission_item->nav_cmd = NAV_CMD_TAKEOFF; mission_item->pitch_min = mavlink_mission_item->param1; mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4)); break; case MAV_CMD_NAV_LOITER_TO_ALT: mission_item->nav_cmd = NAV_CMD_LOITER_TO_ALT; mission_item->force_heading = (mavlink_mission_item->param1 > 0); mission_item->loiter_radius = mavlink_mission_item->param2; mission_item->loiter_exit_xtrack = (mavlink_mission_item->param4 > 0); break; case MAV_CMD_NAV_ROI: case MAV_CMD_DO_SET_ROI: if ((int)mavlink_mission_item->param1 == MAV_ROI_LOCATION) { mission_item->nav_cmd = NAV_CMD_DO_SET_ROI; mission_item->params[0] = MAV_ROI_LOCATION; mission_item->params[6] = mavlink_mission_item->z; } else if ((int)mavlink_mission_item->param1 == MAV_ROI_NONE) { mission_item->nav_cmd = NAV_CMD_DO_SET_ROI; mission_item->params[0] = MAV_ROI_NONE; } else { return MAV_MISSION_INVALID_PARAM1; } break; case MAV_CMD_DO_SET_ROI_LOCATION: mission_item->nav_cmd = NAV_CMD_DO_SET_ROI_LOCATION; mission_item->params[6] = mavlink_mission_item->z; break; case MAV_CMD_NAV_VTOL_TAKEOFF: case MAV_CMD_NAV_VTOL_LAND: mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command; mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4)); break; case MAV_CMD_NAV_FENCE_RETURN_POINT: mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command; break; case MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION: case MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION: mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command; mission_item->vertex_count = (uint16_t)(mavlink_mission_item->param1 + 0.5f); break; case MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION: case MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION: mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command; mission_item->circle_radius = mavlink_mission_item->param1; break; case MAV_CMD_NAV_RALLY_POINT: mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command; break; default: mission_item->nav_cmd = NAV_CMD_INVALID; PX4_DEBUG("Unsupported command %d", mavlink_mission_item->command); return MAV_MISSION_UNSUPPORTED; } mission_item->frame = mavlink_mission_item->frame; } else if (mavlink_mission_item->frame == MAV_FRAME_MISSION) { // this is a mission item with no coordinates mission_item->params[0] = mavlink_mission_item->param1; mission_item->params[1] = mavlink_mission_item->param2; mission_item->params[2] = mavlink_mission_item->param3; mission_item->params[3] = mavlink_mission_item->param4; mission_item->params[4] = mavlink_mission_item->x; mission_item->params[5] = mavlink_mission_item->y; mission_item->params[6] = mavlink_mission_item->z; switch (mavlink_mission_item->command) { case MAV_CMD_DO_JUMP: mission_item->nav_cmd = NAV_CMD_DO_JUMP; mission_item->do_jump_mission_index = mavlink_mission_item->param1; mission_item->do_jump_current_count = 0; mission_item->do_jump_repeat_count = mavlink_mission_item->param2; break; case MAV_CMD_NAV_ROI: case MAV_CMD_DO_SET_ROI: { const int roi_mode = mavlink_mission_item->param1; if (roi_mode == MAV_ROI_NONE || roi_mode == MAV_ROI_WPNEXT || roi_mode == MAV_ROI_WPINDEX) { mission_item->nav_cmd = NAV_CMD_DO_SET_ROI; } else { return MAV_MISSION_INVALID_PARAM1; } } break; case MAV_CMD_DO_CHANGE_SPEED: case MAV_CMD_DO_SET_HOME: case MAV_CMD_DO_SET_SERVO: case MAV_CMD_DO_LAND_START: case MAV_CMD_DO_TRIGGER_CONTROL: case MAV_CMD_DO_DIGICAM_CONTROL: case MAV_CMD_DO_MOUNT_CONFIGURE: case MAV_CMD_DO_MOUNT_CONTROL: case MAV_CMD_IMAGE_START_CAPTURE: case MAV_CMD_IMAGE_STOP_CAPTURE: case MAV_CMD_VIDEO_START_CAPTURE: case MAV_CMD_VIDEO_STOP_CAPTURE: case MAV_CMD_DO_SET_CAM_TRIGG_DIST: case MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL: case MAV_CMD_SET_CAMERA_MODE: case MAV_CMD_DO_VTOL_TRANSITION: case MAV_CMD_NAV_DELAY: case MAV_CMD_NAV_RETURN_TO_LAUNCH: case MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET: case MAV_CMD_DO_SET_ROI_NONE: mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command; break; default: mission_item->nav_cmd = NAV_CMD_INVALID; PX4_DEBUG("Unsupported command %d", mavlink_mission_item->command); return MAV_MISSION_UNSUPPORTED; } mission_item->frame = MAV_FRAME_MISSION; } else { PX4_DEBUG("Unsupported frame %d", mavlink_mission_item->frame); return MAV_MISSION_UNSUPPORTED_FRAME; } mission_item->autocontinue = mavlink_mission_item->autocontinue; // mission_item->index = mavlink_mission_item->seq; mission_item->origin = ORIGIN_MAVLINK; return MAV_MISSION_ACCEPTED; } int MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item) { mavlink_mission_item->frame = mission_item->frame; mavlink_mission_item->command = mission_item->nav_cmd; mavlink_mission_item->autocontinue = mission_item->autocontinue; /* default mappings for generic commands */ if (mission_item->frame == MAV_FRAME_MISSION) { mavlink_mission_item->param1 = mission_item->params[0]; mavlink_mission_item->param2 = mission_item->params[1]; mavlink_mission_item->param3 = mission_item->params[2]; mavlink_mission_item->param4 = mission_item->params[3]; mavlink_mission_item->x = mission_item->params[4]; mavlink_mission_item->y = mission_item->params[5]; mavlink_mission_item->z = mission_item->params[6]; switch (mavlink_mission_item->command) { case NAV_CMD_DO_JUMP: mavlink_mission_item->param1 = mission_item->do_jump_mission_index; mavlink_mission_item->param2 = mission_item->do_jump_repeat_count; break; case NAV_CMD_DO_CHANGE_SPEED: case NAV_CMD_DO_SET_HOME: case NAV_CMD_DO_SET_SERVO: case NAV_CMD_DO_LAND_START: case NAV_CMD_DO_TRIGGER_CONTROL: case NAV_CMD_DO_DIGICAM_CONTROL: case NAV_CMD_IMAGE_START_CAPTURE: case NAV_CMD_IMAGE_STOP_CAPTURE: case NAV_CMD_VIDEO_START_CAPTURE: case NAV_CMD_VIDEO_STOP_CAPTURE: case NAV_CMD_DO_MOUNT_CONFIGURE: case NAV_CMD_DO_MOUNT_CONTROL: case NAV_CMD_DO_SET_ROI: case NAV_CMD_DO_SET_CAM_TRIGG_DIST: case NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL: case NAV_CMD_SET_CAMERA_MODE: case NAV_CMD_DO_VTOL_TRANSITION: break; default: return PX4_ERROR; } } else { mavlink_mission_item->param1 = 0.0f; mavlink_mission_item->param2 = 0.0f; mavlink_mission_item->param3 = 0.0f; mavlink_mission_item->param4 = 0.0f; if (_int_mode) { // This function actually receives a mavlink_mission_item_int_t in _int_mode // which has the same alignment as mavlink_mission_item_t and the only // difference is int32_t vs. float for x and y. mavlink_mission_item_int_t *item_int = reinterpret_cast(mavlink_mission_item); item_int->x = std::round(mission_item->lat * 1e7); item_int->y = std::round(mission_item->lon * 1e7); } else { mavlink_mission_item->x = (float)mission_item->lat; mavlink_mission_item->y = (float)mission_item->lon; } mavlink_mission_item->z = mission_item->altitude; if (mission_item->altitude_is_relative) { if (_int_mode) { mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT_INT; } else { mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; } } else { if (_int_mode) { mavlink_mission_item->frame = MAV_FRAME_GLOBAL_INT; } else { mavlink_mission_item->frame = MAV_FRAME_GLOBAL; } } switch (mission_item->nav_cmd) { case NAV_CMD_WAYPOINT: mavlink_mission_item->param1 = mission_item->time_inside; mavlink_mission_item->param2 = mission_item->acceptance_radius; mavlink_mission_item->param4 = math::degrees(mission_item->yaw); break; case NAV_CMD_LOITER_UNLIMITED: mavlink_mission_item->param3 = mission_item->loiter_radius; mavlink_mission_item->param4 = math::degrees(mission_item->yaw); break; case NAV_CMD_LOITER_TIME_LIMIT: mavlink_mission_item->param1 = mission_item->time_inside; mavlink_mission_item->param3 = mission_item->loiter_radius; mavlink_mission_item->param4 = mission_item->loiter_exit_xtrack; break; case NAV_CMD_LAND: // TODO: param1 abort alt mavlink_mission_item->param2 = mission_item->land_precision; mavlink_mission_item->param4 = math::degrees(mission_item->yaw); break; case NAV_CMD_TAKEOFF: mavlink_mission_item->param1 = mission_item->pitch_min; mavlink_mission_item->param4 = math::degrees(mission_item->yaw); break; case NAV_CMD_LOITER_TO_ALT: mavlink_mission_item->param1 = mission_item->force_heading; mavlink_mission_item->param2 = mission_item->loiter_radius; mavlink_mission_item->param4 = mission_item->loiter_exit_xtrack; break; case MAV_CMD_NAV_VTOL_TAKEOFF: case MAV_CMD_NAV_VTOL_LAND: mavlink_mission_item->param4 = math::degrees(mission_item->yaw); break; case MAV_CMD_NAV_FENCE_RETURN_POINT: break; case MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION: case MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION: mavlink_mission_item->param1 = (float)mission_item->vertex_count; break; case MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION: case MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION: mavlink_mission_item->param1 = mission_item->circle_radius; break; case MAV_CMD_NAV_RALLY_POINT: break; default: return PX4_ERROR; } } return PX4_OK; } void MavlinkMissionManager::check_active_mission() { // do not send anything over high latency communication if (_mavlink->get_mode() == Mavlink::MAVLINK_MODE_IRIDIUM) { return; } if (!(_my_dataman_id == _dataman_id)) { PX4_DEBUG("WPM: New mission detected (possibly over different Mavlink instance) Updating"); _my_dataman_id = _dataman_id; send_mission_count(_transfer_partner_sysid, _transfer_partner_compid, _count[MAV_MISSION_TYPE_MISSION], MAV_MISSION_TYPE_MISSION); } }