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MAVLink app: Default to MISSION, not MISSION_INT 

In order to ensure correct transmission the mission system needs to default to the legacy protocol and switch to the new implementation when these conditions are met:
  * If the GCS sends a MISSION_REQUEST_INT - it will do this based on the AUTOPILOT_VERSION flag indicating int mission support
  * If the autopilot sends a MISSION_REQUEST and has the AUTOPILOT_VERSION flag for 2.0 set, the GCS should NACK it, which will make the autopilot retry a MISSION_REQUEST_INT
  * If the autopilot sends a MISSION_REQUEST_INT and the GCS does not support it, the GCS will ignore and time out. The autopilot could retry now opportunistically with the old protocol, but this is not great for lossy links.
  * If the GCS sends a MISSION_ITEM_INT - this is a fallback
This commit is contained in:
Lorenz Meier 2017-03-16 22:48:38 +01:00
parent bb3b26e00f
commit 7695b65b7f
1 changed files with 13 additions and 7 deletions
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20
src/modules/mavlink/mavlink_mission.cpp
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@ -73,7 +73,7 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkStream(m
_time_last_reached(0),
_action_timeout(MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT),
_retry_timeout(MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT),
_int_mode(true),
_int_mode(false),
_max_count(DM_KEY_WAYPOINTS_OFFBOARD_0_MAX),
_filesystem_errcount(0),
_my_dataman_id(0),
@ -86,7 +86,7 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkStream(m
_offboard_mission_sub(-1),
_mission_result_sub(-1),
_offboard_mission_pub(nullptr),
_slow_rate_limiter(_interval / 10.0f),
_slow_rate_limiter(_interval / 5.0f),
_verbose(false)
{
_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
@ -297,6 +297,7 @@ void
MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint16_t seq)
{
if (seq < _max_count) {
_time_last_sent = hrt_absolute_time();
if (_int_mode) {
@ -490,6 +491,16 @@ MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
}
_state = MAVLINK_WPM_STATE_IDLE;
} else if (_state == MAVLINK_WPM_STATE_GETLIST) {
// INT mode is not supported
if (_int_mode && wpa.type != MAV_MISSION_ACCEPTED) {
_int_mode = false;
} else if (wpa.type != MAV_MISSION_ACCEPTED) {
_int_mode = true;
}
}
} else {
@ -721,11 +732,6 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
/* looks like our MISSION_REQUEST was lost, try again */
if (_verbose) { warnx("WPM: MISSION_COUNT %u from ID %u (again)", wpc.count, msg->sysid); }
// If the counterpart tries this, its an indication int mode might not be supported
if (_int_mode) {
_int_mode = false;
}
} else {
if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: busy, already receiving seq %u", _transfer_seq); }