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px4-firmware/apps/mavlink/waypoints.c

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/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*
* 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 waypoints.c
* MAVLink waypoint protocol implementation (BSD-relicensed).
*/
#include <math.h>
#include <sys/prctl.h>
#include <unistd.h>
#include <stdio.h>
#include "missionlib.h"
#include "waypoints.h"
#include "util.h"
#ifndef FM_PI
#define FM_PI 3.1415926535897932384626433832795f
#endif
bool debug = false;
bool verbose = false;
#define MAVLINK_WPM_NO_PRINTF
uint8_t mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER;
void mavlink_wpm_init(mavlink_wpm_storage *state)
{
// Set all waypoints to zero
// Set count to zero
state->size = 0;
state->max_size = MAVLINK_WPM_MAX_WP_COUNT;
state->current_state = MAVLINK_WPM_STATE_IDLE;
state->current_partner_sysid = 0;
state->current_partner_compid = 0;
state->timestamp_lastaction = 0;
state->timestamp_last_send_setpoint = 0;
state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT;
state->delay_setpoint = MAVLINK_WPM_SETPOINT_DELAY_DEFAULT;
state->idle = false; ///< indicates if the system is following the waypoints or is waiting
state->current_active_wp_id = -1; ///< id of current waypoint
state->yaw_reached = false; ///< boolean for yaw attitude reached
state->pos_reached = false; ///< boolean for position reached
state->timestamp_lastoutside_orbit = 0;///< timestamp when the MAV was last outside the orbit or had the wrong yaw value
state->timestamp_firstinside_orbit = 0;///< timestamp when the MAV was the first time after a waypoint change inside the orbit and had the correct yaw value
}
/*
* @brief Sends an waypoint ack message
*/
void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type)
{
mavlink_message_t msg;
mavlink_mission_ack_t wpa;
wpa.target_system = wpm->current_partner_sysid;
wpa.target_component = wpm->current_partner_compid;
wpa.type = type;
mavlink_msg_mission_ack_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpa);
mavlink_missionlib_send_message(&msg);
// FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
if (MAVLINK_WPM_TEXT_FEEDBACK) {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("Sent waypoint ACK");
#else
if (MAVLINK_WPM_VERBOSE) printf("Sent waypoint ack (%u) to ID %u\n", wpa.type, wpa.target_system);
#endif
mavlink_missionlib_send_gcs_string("Sent waypoint ACK");
}
}
/*
* @brief Broadcasts the new target waypoint and directs the MAV to fly there
*
* This function broadcasts its new active waypoint sequence number and
* sends a message to the controller, advising it to fly to the coordinates
* of the waypoint with a given orientation
*
* @param seq The waypoint sequence number the MAV should fly to.
*/
void mavlink_wpm_send_waypoint_current(uint16_t seq)
{
if (seq < wpm->size) {
mavlink_mission_item_t *cur = &(wpm->waypoints[seq]);
mavlink_message_t msg;
mavlink_mission_current_t wpc;
wpc.seq = cur->seq;
mavlink_msg_mission_current_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc);
mavlink_missionlib_send_message(&msg);
// FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Set current waypoint\n"); //// printf("Broadcasted new current waypoint %u\n", wpc.seq);
} else {
if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds\n");
}
}
/*
* @brief Directs the MAV to fly to a position
*
* Sends a message to the controller, advising it to fly to the coordinates
* of the waypoint with a given orientation
*
* @param seq The waypoint sequence number the MAV should fly to.
*/
void mavlink_wpm_send_setpoint(uint16_t seq)
{
if (seq < wpm->size) {
mavlink_mission_item_t *cur = &(wpm->waypoints[seq]);
mavlink_missionlib_current_waypoint_changed(cur->seq, cur->param1,
cur->param2, cur->param3, cur->param4, cur->x,
cur->y, cur->z, cur->frame, cur->command);
wpm->timestamp_last_send_setpoint = mavlink_missionlib_get_system_timestamp();
} else {
if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n"); //// if (verbose) // printf("ERROR: index out of bounds\n");
}
}
void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count)
{
mavlink_message_t msg;
mavlink_mission_count_t wpc;
wpc.target_system = wpm->current_partner_sysid;
wpc.target_component = wpm->current_partner_compid;
wpc.count = count;
mavlink_msg_mission_count_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc);
mavlink_missionlib_send_message(&msg);
if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint count"); //// if (verbose) // printf("Sent waypoint count (%u) to ID %u\n", wpc.count, wpc.target_system);
// FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
}
void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq)
{
if (seq < wpm->size) {
mavlink_message_t msg;
mavlink_mission_item_t *wp = &(wpm->waypoints[seq]);
wp->target_system = wpm->current_partner_sysid;
wp->target_component = wpm->current_partner_compid;
mavlink_msg_mission_item_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, wp);
mavlink_missionlib_send_message(&msg);
if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint"); //// if (verbose) // printf("Sent waypoint %u to ID %u\n", wp->seq, wp->target_system);
// FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
} else {
if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n");
}
}
void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq)
{
if (seq < wpm->max_size) {
mavlink_message_t msg;
mavlink_mission_request_t wpr;
wpr.target_system = wpm->current_partner_sysid;
wpr.target_component = wpm->current_partner_compid;
wpr.seq = seq;
mavlink_msg_mission_request_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpr);
mavlink_missionlib_send_message(&msg);
if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint request"); //// if (verbose) // printf("Sent waypoint request %u to ID %u\n", wpr.seq, wpr.target_system);
// FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
} else {
if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity\n");
}
}
/*
* @brief emits a message that a waypoint reached
*
* This function broadcasts a message that a waypoint is reached.
*
* @param seq The waypoint sequence number the MAV has reached.
*/
void mavlink_wpm_send_waypoint_reached(uint16_t seq)
{
mavlink_message_t msg;
mavlink_mission_item_reached_t wp_reached;
wp_reached.seq = seq;
mavlink_msg_mission_item_reached_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp_reached);
mavlink_missionlib_send_message(&msg);
if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint reached message"); //// if (verbose) // printf("Sent waypoint %u reached message\n", wp_reached.seq);
// FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
}
//float mavlink_wpm_distance_to_segment(uint16_t seq, float x, float y, float z)
//{
// if (seq < wpm->size)
// {
// mavlink_mission_item_t *cur = waypoints->at(seq);
//
// const PxVector3 A(cur->x, cur->y, cur->z);
// const PxVector3 C(x, y, z);
//
// // seq not the second last waypoint
// if ((uint16_t)(seq+1) < wpm->size)
// {
// mavlink_mission_item_t *next = waypoints->at(seq+1);
// const PxVector3 B(next->x, next->y, next->z);
// const float r = (B-A).dot(C-A) / (B-A).lengthSquared();
// if (r >= 0 && r <= 1)
// {
// const PxVector3 P(A + r*(B-A));
// return (P-C).length();
// }
// else if (r < 0.f)
// {
// return (C-A).length();
// }
// else
// {
// return (C-B).length();
// }
// }
// else
// {
// return (C-A).length();
// }
// }
// else
// {
// // if (verbose) // printf("ERROR: index out of bounds\n");
// }
// return -1.f;
//}
/*
* Calculate distance in global frame.
*
* The distance calculation is based on the WGS84 geoid (GPS)
*/
float mavlink_wpm_distance_to_point_global_wgs84(uint16_t seq, float lat, float lon, float alt)
{
//TODO: implement for z once altidude contoller is implemented
static uint16_t counter;
// if(counter % 10 == 0) printf(" x = %.10f, y = %.10f\n", x, y);
if (seq < wpm->size) {
mavlink_mission_item_t *cur = &(wpm->waypoints[seq]);
double current_x_rad = cur->x / 180.0 * M_PI;
double current_y_rad = cur->y / 180.0 * M_PI;
double x_rad = lat / 180.0 * M_PI;
double y_rad = lon / 180.0 * M_PI;
double d_lat = x_rad - current_x_rad;
double d_lon = y_rad - current_y_rad;
double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0f) * cos(current_x_rad) * cos(x_rad);
double c = 2 * atan2(sqrt(a), sqrt(1 - a));
const double radius_earth = 6371000.0;
return radius_earth * c;
} else {
return -1.0f;
}
counter++;
}
/*
* Calculate distance in local frame (NED)
*/
float mavlink_wpm_distance_to_point_local(uint16_t seq, float x, float y, float z)
{
if (seq < wpm->size) {
mavlink_mission_item_t *cur = &(wpm->waypoints[seq]);
float dx = (cur->x - x);
float dy = (cur->y - y);
float dz = (cur->z - z);
return sqrt(dx * dx + dy * dy + dz * dz);
} else {
return -1.0f;
}
}
void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_s *global_pos, struct vehicle_local_position_s *local_pos)
{
static uint16_t counter;
// Do not flood the precious wireless link with debug data
// if (wpm->size > 0 && counter % 10 == 0) {
// printf("Currect active waypoint id: %i\n", wpm->current_active_wp_id);
// }
if (wpm->current_active_wp_id < wpm->size) {
float orbit = wpm->waypoints[wpm->current_active_wp_id].param2;
int coordinate_frame = wpm->waypoints[wpm->current_active_wp_id].frame;
float dist = -1.0f;
if (coordinate_frame == (int)MAV_FRAME_GLOBAL) {
dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->alt);
} else if (coordinate_frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) {
dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, global_pos->lat, global_pos->lon, global_pos->relative_alt);
} else if (coordinate_frame == (int)MAV_FRAME_LOCAL_ENU || coordinate_frame == (int)MAV_FRAME_LOCAL_NED) {
dist = mavlink_wpm_distance_to_point_local(wpm->current_active_wp_id, local_pos->x, local_pos->y, local_pos->z);
} else if (coordinate_frame == (int)MAV_FRAME_MISSION) {
/* Check if conditions of mission item are satisfied */
// XXX TODO
}
if (dist >= 0.f && dist <= orbit /*&& wpm->yaw_reached*/) { //TODO implement yaw
wpm->pos_reached = true;
if (counter % 100 == 0)
printf("Setpoint reached: %0.4f, orbit: %.4f\n", dist, orbit);
}
// else
// {
// if(counter % 100 == 0)
// printf("Setpoint not reached yet: %0.4f, orbit: %.4f, coordinate frame: %d\n",dist, orbit, coordinate_frame);
// }
}
//check if the current waypoint was reached
if (wpm->pos_reached /*wpm->yaw_reached &&*/ && !wpm->idle) {
if (wpm->current_active_wp_id < wpm->size) {
mavlink_mission_item_t *cur_wp = &(wpm->waypoints[wpm->current_active_wp_id]);
if (wpm->timestamp_firstinside_orbit == 0) {
// Announce that last waypoint was reached
printf("Reached waypoint %u for the first time \n", cur_wp->seq);
mavlink_wpm_send_waypoint_reached(cur_wp->seq);
wpm->timestamp_firstinside_orbit = now;
}
// check if the MAV was long enough inside the waypoint orbit
//if (now-timestamp_lastoutside_orbit > (cur_wp->hold_time*1000))
if (now - wpm->timestamp_firstinside_orbit >= cur_wp->param2 * 1000) {
printf("Reached waypoint %u long enough \n", cur_wp->seq);
if (cur_wp->autocontinue) {
cur_wp->current = 0;
if (wpm->current_active_wp_id == wpm->size - 1 && wpm->size > 1) {
/* the last waypoint was reached, if auto continue is
* activated restart the waypoint list from the beginning
*/
wpm->current_active_wp_id = 0;
} else {
if ((uint16_t)(wpm->current_active_wp_id + 1) < wpm->size)
wpm->current_active_wp_id++;
}
// Fly to next waypoint
wpm->timestamp_firstinside_orbit = 0;
mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id);
mavlink_wpm_send_setpoint(wpm->current_active_wp_id);
wpm->waypoints[wpm->current_active_wp_id].current = true;
wpm->pos_reached = false;
wpm->yaw_reached = false;
printf("Set new waypoint (%u)\n", wpm->current_active_wp_id);
}
}
}
} else {
wpm->timestamp_lastoutside_orbit = now;
}
counter++;
}
int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position, struct vehicle_local_position_s *local_position)
{
/* check for timed-out operations */
if (now - wpm->timestamp_lastaction > wpm->timeout && wpm->current_state != MAVLINK_WPM_STATE_IDLE) {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("Operation timeout switching -> IDLE");
#else
if (MAVLINK_WPM_VERBOSE) printf("Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm->current_state);
#endif
wpm->current_state = MAVLINK_WPM_STATE_IDLE;
wpm->current_count = 0;
wpm->current_partner_sysid = 0;
wpm->current_partner_compid = 0;
wpm->current_wp_id = -1;
if (wpm->size == 0) {
wpm->current_active_wp_id = -1;
}
}
// Do NOT continously send the current WP, since we're not loosing messages
// if (now - wpm->timestamp_last_send_setpoint > wpm->delay_setpoint && wpm->current_active_wp_id < wpm->size) {
// mavlink_wpm_send_setpoint(wpm->current_active_wp_id);
// }
check_waypoints_reached(now, global_position , local_position);
return OK;
}
void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehicle_global_position_s *global_pos , struct vehicle_local_position_s *local_pos)
{
uint64_t now = mavlink_missionlib_get_system_timestamp();
switch (msg->msgid) {
// case MAVLINK_MSG_ID_ATTITUDE:
// {
// if(msg->sysid == mavlink_system.sysid && wpm->current_active_wp_id < wpm->size)
// {
// mavlink_mission_item_t *wp = &(wpm->waypoints[wpm->current_active_wp_id]);
// if(wp->frame == MAV_FRAME_LOCAL_ENU || wp->frame == MAV_FRAME_LOCAL_NED)
// {
// mavlink_attitude_t att;
// mavlink_msg_attitude_decode(msg, &att);
// float yaw_tolerance = wpm->accept_range_yaw;
// //compare current yaw
// if (att.yaw - yaw_tolerance >= 0.0f && att.yaw + yaw_tolerance < 2.f*FM_PI)
// {
// if (att.yaw - yaw_tolerance <= wp->param4 && att.yaw + yaw_tolerance >= wp->param4)
// wpm->yaw_reached = true;
// }
// else if(att.yaw - yaw_tolerance < 0.0f)
// {
// float lowerBound = 360.0f + att.yaw - yaw_tolerance;
// if (lowerBound < wp->param4 || wp->param4 < att.yaw + yaw_tolerance)
// wpm->yaw_reached = true;
// }
// else
// {
// float upperBound = att.yaw + yaw_tolerance - 2.f*FM_PI;
// if (att.yaw - yaw_tolerance < wp->param4 || wp->param4 < upperBound)
// wpm->yaw_reached = true;
// }
// }
// }
// break;
// }
//
// case MAVLINK_MSG_ID_LOCAL_POSITION_NED:
// {
// if(msg->sysid == mavlink_system.sysid && wpm->current_active_wp_id < wpm->size)
// {
// mavlink_mission_item_t *wp = &(wpm->waypoints[wpm->current_active_wp_id]);
//
// if(wp->frame == MAV_FRAME_LOCAL_ENU || MAV_FRAME_LOCAL_NED)
// {
// mavlink_local_position_ned_t pos;
// mavlink_msg_local_position_ned_decode(msg, &pos);
// //// if (debug) // printf("Received new position: x: %f | y: %f | z: %f\n", pos.x, pos.y, pos.z);
//
// wpm->pos_reached = false;
//
// // compare current position (given in message) with current waypoint
// float orbit = wp->param1;
//
// float dist;
//// if (wp->param2 == 0)
//// {
//// // FIXME segment distance
//// //dist = mavlink_wpm_distance_to_segment(current_active_wp_id, pos.x, pos.y, pos.z);
//// }
//// else
//// {
// dist = mavlink_wpm_distance_to_point(wpm->current_active_wp_id, pos.x, pos.y, pos.z);
//// }
//
// if (dist >= 0.f && dist <= orbit && wpm->yaw_reached)
// {
// wpm->pos_reached = true;
// }
// }
// }
// break;
// }
// case MAVLINK_MSG_ID_CMD: // special action from ground station
// {
// mavlink_cmd_t action;
// mavlink_msg_cmd_decode(msg, &action);
// if(action.target == mavlink_system.sysid)
// {
// // if (verbose) std::cerr << "Waypoint: received message with action " << action.action << std::endl;
// switch (action.action)
// {
// // case MAV_ACTION_LAUNCH:
// // // if (verbose) std::cerr << "Launch received" << std::endl;
// // current_active_wp_id = 0;
// // if (wpm->size>0)
// // {
// // setActive(waypoints[current_active_wp_id]);
// // }
// // else
// // // if (verbose) std::cerr << "No launch, waypointList empty" << std::endl;
// // break;
//
// // case MAV_ACTION_CONTINUE:
// // // if (verbose) std::c
// // err << "Continue received" << std::endl;
// // idle = false;
// // setActive(waypoints[current_active_wp_id]);
// // break;
//
// // case MAV_ACTION_HALT:
// // // if (verbose) std::cerr << "Halt received" << std::endl;
// // idle = true;
// // break;
//
// // default:
// // // if (verbose) std::cerr << "Unknown action received with id " << action.action << ", no action taken" << std::endl;
// // break;
// }
// }
// break;
// }
case MAVLINK_MSG_ID_MISSION_ACK: {
mavlink_mission_ack_t wpa;
mavlink_msg_mission_ack_decode(msg, &wpa);
if ((msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/)) {
wpm->timestamp_lastaction = now;
if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) {
if (wpm->current_wp_id == wpm->size - 1) {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("Got last WP ACK state -> IDLE");
#else
if (MAVLINK_WPM_VERBOSE) printf("Received ACK after having sent last waypoint, going to state MAVLINK_WPM_STATE_IDLE\n");
#endif
wpm->current_state = MAVLINK_WPM_STATE_IDLE;
wpm->current_wp_id = 0;
}
}
} else {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("REJ. WP CMD: curr partner id mismatch");
#else
if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n");
#endif
}
break;
}
case MAVLINK_MSG_ID_MISSION_SET_CURRENT: {
mavlink_mission_set_current_t wpc;
mavlink_msg_mission_set_current_decode(msg, &wpc);
if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) {
wpm->timestamp_lastaction = now;
if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) {
if (wpc.seq < wpm->size) {
// if (verbose) // printf("Received MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT\n");
wpm->current_active_wp_id = wpc.seq;
uint32_t i;
for (i = 0; i < wpm->size; i++) {
if (i == wpm->current_active_wp_id) {
wpm->waypoints[i].current = true;
} else {
wpm->waypoints[i].current = false;
}
}
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("NEW WP SET");
#else
if (MAVLINK_WPM_VERBOSE) printf("New current waypoint %u\n", wpm->current_active_wp_id);
#endif
wpm->yaw_reached = false;
wpm->pos_reached = false;
mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id);
mavlink_wpm_send_setpoint(wpm->current_active_wp_id);
wpm->timestamp_firstinside_orbit = 0;
} else {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list");
#else
if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT: Index out of bounds\n");
#endif
}
} else {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy");
#else
if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE NOT IN IDLE STATE\n");
#endif
}
} else {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch");
#else
if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n");
#endif
}
break;
}
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: {
mavlink_mission_request_list_t wprl;
mavlink_msg_mission_request_list_decode(msg, &wprl);
if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) {
wpm->timestamp_lastaction = now;
if (wpm->current_state == MAVLINK_WPM_STATE_IDLE || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) {
if (wpm->size > 0) {
//if (verbose && wpm->current_state == MAVLINK_WPM_STATE_IDLE) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u changing state to MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid);
// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST again from %u staying in state MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid);
wpm->current_state = MAVLINK_WPM_STATE_SENDLIST;
wpm->current_wp_id = 0;
wpm->current_partner_sysid = msg->sysid;
wpm->current_partner_compid = msg->compid;
} else {
// if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u but have no waypoints, staying in \n", msg->sysid);
}
wpm->current_count = wpm->size;
mavlink_wpm_send_waypoint_count(msg->sysid, msg->compid, wpm->current_count);
} else {
// if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST because i'm doing something else already (state=%i).\n", wpm->current_state);
}
} else {
// if (verbose) // printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT MISMATCH\n");
}
break;
}
case MAVLINK_MSG_ID_MISSION_REQUEST: {
mavlink_mission_request_t wpr;
mavlink_msg_mission_request_decode(msg, &wpr);
if (msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid && wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) {
wpm->timestamp_lastaction = now;
//ensure that we are in the correct state and that the first request has id 0 and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint)
if ((wpm->current_state == MAVLINK_WPM_STATE_SENDLIST && wpr.seq == 0) || (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && (wpr.seq == wpm->current_wp_id || wpr.seq == wpm->current_wp_id + 1) && wpr.seq < wpm->size)) {
if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("GOT WP REQ, state -> SEND");
#else
if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid);
#endif
}
if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm->current_wp_id + 1) {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ");
#else
if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid);
#endif
}
if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm->current_wp_id) {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ");
#else
if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid);
#endif
}
wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS;
wpm->current_wp_id = wpr.seq;
mavlink_wpm_send_waypoint(wpm->current_partner_sysid, wpm->current_partner_compid, wpr.seq);
} else {
// if (verbose)
{
if (!(wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS)) {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
#else
if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).\n", wpm->current_state);
#endif
break;
} else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) {
if (wpr.seq != 0) {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0");
#else
if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the first requested waypoint ID (%u) was not 0.\n", wpr.seq);
#endif
}
} else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) {
if (wpr.seq != wpm->current_wp_id && wpr.seq != wpm->current_wp_id + 1) {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected");
#else
if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).\n", wpr.seq, wpm->current_wp_id, wpm->current_wp_id + 1);
#endif
} else if (wpr.seq >= wpm->size) {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list");
#else
if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.\n", wpr.seq);
#endif
}
} else {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?");
#else
if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST - FIXME: missed error description\n");
#endif
}
}
}
} else {
//we we're target but already communicating with someone else
if ((wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid)) {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
#else
if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.\n", msg->sysid, wpm->current_partner_sysid);
#endif
} else {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch");
#else
if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n");
#endif
}
}
break;
}
case MAVLINK_MSG_ID_MISSION_COUNT: {
mavlink_mission_count_t wpc;
mavlink_msg_mission_count_decode(msg, &wpc);
if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) {
wpm->timestamp_lastaction = now;
if (wpm->current_state == MAVLINK_WPM_STATE_IDLE || (wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wpm->current_wp_id == 0)) {
// printf("wpc count in: %d\n",wpc.count);
// printf("Comp id: %d\n",msg->compid);
// printf("Current partner sysid: %d\n",wpm->current_partner_sysid);
if (wpc.count > 0) {
if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("WP CMD OK: state -> GETLIST");
#else
if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST\n", wpc.count, msg->sysid);
#endif
}
if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN");
#else
if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u\n", wpc.count, msg->sysid);
#endif
}
wpm->current_state = MAVLINK_WPM_STATE_GETLIST;
wpm->current_wp_id = 0;
wpm->current_partner_sysid = msg->sysid;
wpm->current_partner_compid = msg->compid;
wpm->current_count = wpc.count;
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("CLR RCV BUF: READY");
#else
if (MAVLINK_WPM_VERBOSE) printf("clearing receive buffer and readying for receiving waypoints\n");
#endif
wpm->rcv_size = 0;
//while(waypoints_receive_buffer->size() > 0)
// {
// delete waypoints_receive_buffer->back();
// waypoints_receive_buffer->pop_back();
// }
mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id);
} else if (wpc.count == 0) {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("COUNT 0");
#else
if (MAVLINK_WPM_VERBOSE) printf("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE\n");
#endif
wpm->rcv_size = 0;
//while(waypoints_receive_buffer->size() > 0)
// {
// delete waypoints->back();
// waypoints->pop_back();
// }
wpm->current_active_wp_id = -1;
wpm->yaw_reached = false;
wpm->pos_reached = false;
break;
} else {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("IGN WP CMD");
#else
if (MAVLINK_WPM_VERBOSE) printf("Ignoring MAVLINK_MSG_ID_MISSION_ITEM_COUNT from %u with count of %u\n", msg->sysid, wpc.count);
#endif
}
} else {
if (!(wpm->current_state == MAVLINK_WPM_STATE_IDLE || wpm->current_state == MAVLINK_WPM_STATE_GETLIST)) {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
#else
if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm doing something else already (state=%i).\n", wpm->current_state);
#endif
} else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wpm->current_wp_id != 0) {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
#else
if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.\n", wpm->current_wp_id);
#endif
} else {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?");
#else
if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT - FIXME: missed error description\n");
#endif
}
}
} else {
#ifdef MAVLINK_WPM_NO_PRINTF
mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch");
#else
if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n");
#endif
}
}
break;
case MAVLINK_MSG_ID_MISSION_ITEM: {
mavlink_mission_item_t wp;
mavlink_msg_mission_item_decode(msg, &wp);
mavlink_missionlib_send_gcs_string("GOT WP");
// printf("sysid=%d, current_partner_sysid=%d\n", msg->sysid, wpm->current_partner_sysid);
// printf("compid=%d, current_partner_compid=%d\n", msg->compid, wpm->current_partner_compid);
// if((msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && (wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/))
if (wp.target_system == mavlink_system.sysid && wp.target_component == mavlink_wpm_comp_id) {
wpm->timestamp_lastaction = now;
// printf("wpm->current_state=%u, wp.seq = %d, wpm->current_wp_id=%d\n", wpm->current_state, wp.seq, wpm->current_wp_id);
// wpm->current_state = MAVLINK_WPM_STATE_GETLIST;//removeme debug XXX TODO
//ensure that we are in the correct state and that the first waypoint has id 0 and the following waypoints have the correct ids
if ((wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wp.seq == 0) || (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm->current_wp_id && wp.seq < wpm->current_count)) {
//mavlink_missionlib_send_gcs_string("DEBUG 2");
// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u changing state to MAVLINK_WPM_STATE_GETLIST_GETWPS\n", wp.seq, msg->sysid);
// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm->current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u\n", wp.seq, msg->sysid);
// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq-1 == wpm->current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u (again) from %u\n", wp.seq, msg->sysid);
//
wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS;
mavlink_mission_item_t *newwp = &(wpm->rcv_waypoints[wp.seq]);
memcpy(newwp, &wp, sizeof(mavlink_mission_item_t));
// printf("WP seq: %d\n",wp.seq);
wpm->current_wp_id = wp.seq + 1;
// if (verbose) // printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4);
// printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4);
// printf ("wpm->current_wp_id =%d, wpm->current_count=%d\n\n", wpm->current_wp_id, wpm->current_count);
if (wpm->current_wp_id == wpm->current_count && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
mavlink_missionlib_send_gcs_string("GOT ALL WPS");
// if (verbose) // printf("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm->current_count);
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, 0);
if (wpm->current_active_wp_id > wpm->rcv_size - 1) {
wpm->current_active_wp_id = wpm->rcv_size - 1;
}
// switch the waypoints list
// FIXME CHECK!!!
uint32_t i;
for (i = 0; i < wpm->current_count; ++i) {
wpm->waypoints[i] = wpm->rcv_waypoints[i];
}
wpm->size = wpm->current_count;
//get the new current waypoint
for (i = 0; i < wpm->size; i++) {
if (wpm->waypoints[i].current == 1) {
wpm->current_active_wp_id = i;
//// if (verbose) // printf("New current waypoint %u\n", current_active_wp_id);
wpm->yaw_reached = false;
wpm->pos_reached = false;
mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id);
mavlink_wpm_send_setpoint(wpm->current_active_wp_id);
wpm->timestamp_firstinside_orbit = 0;
break;
}
}
if (i == wpm->size) {
wpm->current_active_wp_id = -1;
wpm->yaw_reached = false;
wpm->pos_reached = false;
wpm->timestamp_firstinside_orbit = 0;
}
wpm->current_state = MAVLINK_WPM_STATE_IDLE;
} else {
mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id);
}
} else {
if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) {
//we're done receiving waypoints, answer with ack.
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, 0);
printf("Received MAVLINK_MSG_ID_MISSION_ITEM while state=MAVLINK_WPM_STATE_IDLE, answered with WAYPOINT_ACK.\n");
}
// if (verbose)
{
if (!(wpm->current_state == MAVLINK_WPM_STATE_GETLIST || wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS)) {
// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u because i'm doing something else already (state=%i).\n", wp.seq, wpm->current_state);
break;
} else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) {
if (!(wp.seq == 0)) {
// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.\n", wp.seq);
} else {
// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq);
}
} else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
if (!(wp.seq == wpm->current_wp_id)) {
// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.\n", wp.seq, wpm->current_wp_id);
mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id);
} else if (!(wp.seq < wpm->current_count)) {
// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.\n", wp.seq);
} else {
// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq);
}
} else {
// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq);
}
}
}
} else {
//we we're target but already communicating with someone else
if ((wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && wpm->current_state != MAVLINK_WPM_STATE_IDLE) {
// if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i'm already talking to ID %u.\n", wp.seq, msg->sysid, wpm->current_partner_sysid);
} else if (wp.target_system == mavlink_system.sysid /* && wp.target_component == mavlink_wpm_comp_id*/) {
// if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i have no idea what to do with it\n", wp.seq, msg->sysid);
}
}
break;
}
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: {
mavlink_mission_clear_all_t wpca;
mavlink_msg_mission_clear_all_decode(msg, &wpca);
if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm->current_state == MAVLINK_WPM_STATE_IDLE) {
wpm->timestamp_lastaction = now;
// if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u deleting all waypoints\n", msg->sysid);
// Delete all waypoints
wpm->size = 0;
wpm->current_active_wp_id = -1;
wpm->yaw_reached = false;
wpm->pos_reached = false;
} else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm->current_state != MAVLINK_WPM_STATE_IDLE) {
// if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u because i'm doing something else already (state=%i).\n", msg->sysid, wpm->current_state);
}
break;
}
default: {
// if (debug) // printf("Waypoint: received message of unknown type");
break;
}
}
check_waypoints_reached(now, global_pos, local_pos);
}
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