Mission: support GUIDED_ENABLE and GUIDED_LIMITS

This replaces the ardupilot only NAV_GUIDED command.
Also remove support for NAV_VELOCITY mission command which will be
replaced by SET_POSITION_TARGET non-mission command.

libraries/AP_Mission/AP_Mission.cpp

@@ -517,23 +517,9 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
         cmd.p1 = packet.param1;                         // delay at waypoint in seconds
         break;
 
-#ifdef MAV_CMD_NAV_GUIDED
+    case MAV_CMD_NAV_GUIDED_ENABLE:                     // MAV ID: 92
-    case MAV_CMD_NAV_GUIDED:                     // MAV ID: 90
+        cmd.p1 = packet.param1;                         // on/off. >0.5 means "on", hand-over control to external controller
-        cmd.p1 = packet.param1;                         // max time in seconds the external controller will be allowed to control the vehicle
-        cmd.content.nav_guided.alt_min = packet.param2; // min alt below which the command will be aborted.  0 for no lower alt limit
-        cmd.content.nav_guided.alt_max = packet.param3; // max alt above which the command will be aborted.  0 for no upper alt limit
-        cmd.content.nav_guided.horiz_max = packet.param4;   // max horizontal distance the vehicle can move before the command will be aborted.  0 for no horizontal limit
         break;
-#endif
-
-#ifdef MAV_CMD_NAV_VELOCITY
-    case MAV_CMD_NAV_VELOCITY:                          // MAV ID: 91
-        cmd.p1 = packet.param1;                         // frame - unused
-        cmd.content.nav_velocity.x = packet.x;          // lat (i.e. north) velocity in m/s
-        cmd.content.nav_velocity.y = packet.y;          // lon (i.e. east) velocity in m/s
-        cmd.content.nav_velocity.z = packet.z;          // vertical (i.e. up) velocity in m/s
-        break;
-#endif
 
     case MAV_CMD_CONDITION_DELAY:                       // MAV ID: 112
         cmd.content.delay.seconds = packet.param1;      // delay in seconds
@@ -630,6 +616,13 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
         cmd.content.gripper.action = packet.param2;     // action 0=release, 1=grab.  See GRIPPER_ACTION enum
         break;
 
+    case MAV_CMD_DO_GUIDED_LIMITS:                      // MAV ID: 222
+        cmd.p1 = packet.param1;                         // max time in seconds the external controller will be allowed to control the vehicle
+        cmd.content.guided_limits.alt_min = packet.param2;  // min alt below which the command will be aborted.  0 for no lower alt limit
+        cmd.content.guided_limits.alt_max = packet.param3;  // max alt above which the command will be aborted.  0 for no upper alt limit
+        cmd.content.guided_limits.horiz_max = packet.param4;// max horizontal distance the vehicle can move before the command will be aborted.  0 for no horizontal limit
+        break;
+
     default:
         // unrecognised command
         return false;
@@ -785,23 +778,9 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
         packet.param1 = cmd.p1;                         // delay at waypoint in seconds
         break;
 
-#ifdef MAV_CMD_NAV_GUIDED
+    case MAV_CMD_NAV_GUIDED_ENABLE:                     // MAV ID: 92
-    case MAV_CMD_NAV_GUIDED:                     // MAV ID: 90
+        packet.param1 = cmd.p1;                         // on/off. >0.5 means "on", hand-over control to external controller
-        packet.param1 = cmd.p1;                         // max time in seconds the external controller will be allowed to control the vehicle
-        packet.param2 = cmd.content.nav_guided.alt_min; // min alt below which the command will be aborted.  0 for no lower alt limit
-        packet.param3 = cmd.content.nav_guided.alt_max; // max alt above which the command will be aborted.  0 for no upper alt limit
-        packet.param4 = cmd.content.nav_guided.horiz_max;   // max horizontal distance the vehicle can move before the command will be aborted.  0 for no horizontal limit
         break;
-#endif
-
-#ifdef MAV_CMD_NAV_VELOCITY
-    case MAV_CMD_NAV_VELOCITY:                          // MAV ID: 91
-        packet.param1 = cmd.p1;                         // frame - unused
-        packet.x = cmd.content.nav_velocity.x;          // lat (i.e. north) velocity in m/s
-        packet.y = cmd.content.nav_velocity.y;          // lon (i.e. east) velocity in m/s
-        packet.z = cmd.content.nav_velocity.z;          // vertical (i.e. up) velocity in m/s
-        break;
-#endif
 
     case MAV_CMD_CONDITION_DELAY:                       // MAV ID: 112
         packet.param1 = cmd.content.delay.seconds;      // delay in seconds
@@ -898,6 +877,13 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
         packet.param2 = cmd.content.gripper.action;     // action 0=release, 1=grab.  See GRIPPER_ACTION enum
         break;
 
+    case MAV_CMD_DO_GUIDED_LIMITS:                      // MAV ID: 222
+        packet.param1 = cmd.p1;                         // max time in seconds the external controller will be allowed to control the vehicle
+        packet.param2 = cmd.content.guided_limits.alt_min;  // min alt below which the command will be aborted.  0 for no lower alt limit
+        packet.param3 = cmd.content.guided_limits.alt_max;  // max alt above which the command will be aborted.  0 for no upper alt limit
+        packet.param4 = cmd.content.guided_limits.horiz_max;// max horizontal distance the vehicle can move before the command will be aborted.  0 for no horizontal limit
+        break;
+
     default:
         // unrecognised command
         return false;

libraries/AP_Mission/AP_Mission.h

@@ -43,21 +43,6 @@
 class AP_Mission {
 
 public:
-
-    // nav guided command
-    struct PACKED Nav_Guided_Command {
-        float alt_min;          // min alt below which the command will be aborted.  0 for no lower alt limit
-        float alt_max;          // max alt above which the command will be aborted.  0 for no upper alt limit
-        float horiz_max;        // max horizontal distance the vehicle can move before the command will be aborted.  0 for no horizontal limit
-    };
-
-    // nav velocity command
-    struct PACKED Nav_Velocity_Command {
-        float x;                // lat (i.e. north) velocity in m/s
-        float y;                // lon (i.e. east) velocity in m/s
-        float z;                // vertical velocity in m/s
-    };
-
     // jump command structure
     struct PACKED Jump_Command {
         uint16_t target;        // target command id
@@ -127,13 +112,15 @@ public:
         uint8_t action;         // action (0 = release, 1 = grab)
     };
 
+    // nav guided command
+    struct PACKED Guided_Limits_Command {
+        // max time is held in p1 field
+        float alt_min;          // min alt below which the command will be aborted.  0 for no lower alt limit
+        float alt_max;          // max alt above which the command will be aborted.  0 for no upper alt limit
+        float horiz_max;        // max horizontal distance the vehicle can move before the command will be aborted.  0 for no horizontal limit
+    };
+
     union PACKED Content {
-        // Nav_Guided_Command
-        Nav_Guided_Command nav_guided;
-
-        // Nav_Velocity_Command
-        Nav_Velocity_Command nav_velocity;
-
         // jump structure
         Jump_Command jump;
 
@@ -167,6 +154,9 @@ public:
         // do-gripper
         Gripper_Command gripper;
 
+        // do-guided-limits
+        Guided_Limits_Command guided_limits;
+
         // location
         Location location;      // Waypoint location