#include <mavlink_mission.h>

Collaboration diagram for MavlinkMissionManager:

Public Member Functions
	MavlinkMissionManager (Mavlink *mavlink)

	~MavlinkMissionManager ()=default

void	send (const hrt_abstime t)
	Handle sending of messages. More...

void	handle_message (const mavlink_message_t *msg)

void	check_active_mission (void)

Private Member Functions
uint16_t	current_max_item_count ()
	get the maximum number of item count for the current _mission_type More...

uint16_t	current_item_count ()
	get the number of item count for the current _mission_type More...

	MavlinkMissionManager (MavlinkMissionManager &)

MavlinkMissionManager &	operator= (const MavlinkMissionManager &)

void	init_offboard_mission ()

int	update_active_mission (dm_item_t dataman_id, uint16_t count, int32_t seq)
	Publish mission topic to notify navigator about changes. More...

int	update_geofence_count (unsigned count)
	store the geofence count to dataman More...

int	update_safepoint_count (unsigned count)
	store the safepoint count to dataman More...

int	load_geofence_stats ()
	load geofence stats from dataman More...

int	load_safepoint_stats ()
	load safe point stats from dataman More...

void	send_mission_ack (uint8_t sysid, uint8_t compid, uint8_t type)
	Sends an waypoint ack message. More...

void	send_mission_current (uint16_t seq)
	Broadcasts the new target waypoint and directs the MAV to fly there. More...

void	send_mission_count (uint8_t sysid, uint8_t compid, uint16_t count, MAV_MISSION_TYPE mission_type)

void	send_mission_item (uint8_t sysid, uint8_t compid, uint16_t seq)

void	send_mission_request (uint8_t sysid, uint8_t compid, uint16_t seq)

void	send_mission_item_reached (uint16_t seq)
	emits a message that a waypoint reached More...

void	handle_mission_ack (const mavlink_message_t *msg)

void	handle_mission_set_current (const mavlink_message_t *msg)

void	handle_mission_request_list (const mavlink_message_t *msg)

void	handle_mission_request (const mavlink_message_t *msg)

void	handle_mission_request_int (const mavlink_message_t *msg)

void	handle_mission_request_both (const mavlink_message_t *msg)

void	handle_mission_count (const mavlink_message_t *msg)

void	handle_mission_item (const mavlink_message_t *msg)

void	handle_mission_item_int (const mavlink_message_t *msg)

void	handle_mission_item_both (const mavlink_message_t *msg)

void	handle_mission_clear_all (const mavlink_message_t *msg)

int	parse_mavlink_mission_item (const mavlink_mission_item_t mavlink_mission_item, struct mission_item_s mission_item)
	Parse mavlink MISSION_ITEM message to get mission_item_s. More...

int	format_mavlink_mission_item (const struct mission_item_s mission_item, mavlink_mission_item_t mavlink_mission_item)
	Format mission_item_s as mavlink MISSION_ITEM(_INT) message. More...

void	switch_to_idle_state ()
	set _state to idle (and do necessary cleanup) More...

Private Attributes
uint64_t	_time_last_recv {0}

uint64_t	_time_last_sent {0}

uint8_t	_reached_sent_count {0}
	last time when the vehicle reached a waypoint More...

bool	_int_mode {false}
	Use accurate int32 instead of float. More...

unsigned	_filesystem_errcount {0}
	File system error count. More...

dm_item_t	_my_dataman_id {DM_KEY_WAYPOINTS_OFFBOARD_0}
	class Dataman storage ID More...

int32_t	_last_reached {-1}
	Last reached waypoint in active mission (-1 means nothing reached) More...

dm_item_t	_transfer_dataman_id {DM_KEY_WAYPOINTS_OFFBOARD_1}
	Dataman storage ID for current transmission. More...

uint16_t	_transfer_count {0}
	Items count in current transmission. More...

uint16_t	_transfer_seq {0}
	Item sequence in current transmission. More...

int32_t	_transfer_current_seq {-1}
	Current item ID for current transmission (-1 means not initialized) More...

uint8_t	_transfer_partner_sysid {0}
	Partner system ID for current transmission. More...

uint8_t	_transfer_partner_compid {0}
	Partner component ID for current transmission. More...

uORB::Subscription	_mission_result_sub {ORB_ID(mission_result)}

uORB::Publication< mission_s >	_offboard_mission_pub {ORB_ID(mission)}

bool	_geofence_locked {false}
	if true, we currently hold the dm_lock for the geofence (transaction in progress) More...

MavlinkRateLimiter	_slow_rate_limiter {100 * 1000}
	Rate limit sending of the current WP sequence to 10 Hz. More...

Mavlink *	_mavlink

Static Private Attributes
static dm_item_t	_dataman_id = DM_KEY_WAYPOINTS_OFFBOARD_0
	Global Dataman storage ID for active mission. More...

static bool	_dataman_init = false
	Dataman initialized. More...

static uint16_t	_count [3] = { 0, 0, 0 }
	Count of items in (active) mission for each MAV_MISSION_TYPE. More...

static int32_t	_current_seq = 0
	Current item sequence in active mission. More...

static bool	_transfer_in_progress = false
	Global variable checking for current transmission. More...

static uint16_t	_geofence_update_counter = 0

static uint16_t	_safepoint_update_counter = 0

static constexpr unsigned int	FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT
	Error count limit before stopping to report FS errors. More...

static constexpr uint16_t	MAX_COUNT []
	Maximum number of mission items for each type (fence & safe points use the first item for the stats) More...

Detailed Description

Definition at line 77 of file mavlink_mission.h.

Constructor & Destructor Documentation

◆ MavlinkMissionManager() [1/2]

MavlinkMissionManager::MavlinkMissionManager ( Mavlink * mavlink )

explicit

Definition at line 73 of file mavlink_mission.cpp.

References init_offboard_mission().

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◆ ~MavlinkMissionManager()

MavlinkMissionManager::~MavlinkMissionManager ( )

default

◆ MavlinkMissionManager() [2/2]

MavlinkMissionManager::MavlinkMissionManager ( MavlinkMissionManager & )

private

Member Function Documentation

◆ check_active_mission()

void MavlinkMissionManager::check_active_mission ( void )

Definition at line 1646 of file mavlink_mission.cpp.

References _count, _dataman_id, _mavlink, _my_dataman_id, _transfer_partner_compid, _transfer_partner_sysid, Mavlink::get_mode(), Mavlink::MAVLINK_MODE_IRIDIUM, and send_mission_count().

Referenced by MavlinkReceiver::Run().

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◆ current_item_count()

uint16_t MavlinkMissionManager::current_item_count ( )

private

get the number of item count for the current _mission_type

Definition at line 409 of file mavlink_mission.cpp.

References _count.

Referenced by handle_mission_ack(), handle_mission_request_both(), and handle_mission_request_list().

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◆ current_max_item_count()

uint16_t MavlinkMissionManager::current_max_item_count ( )

private

get the maximum number of item count for the current _mission_type

Definition at line 398 of file mavlink_mission.cpp.

References MAX_COUNT.

Referenced by handle_mission_count(), and send_mission_request().

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◆ format_mavlink_mission_item()

int MavlinkMissionManager::format_mavlink_mission_item	(	const struct mission_item_s *	mission_item,
		mavlink_mission_item_t *	mavlink_mission_item
	)

private

Format mission_item_s as mavlink MISSION_ITEM(_INT) message.

Parameters

mission_item	pointer to the existing mission item
mavlink_mission_item	pointer to mavlink_mission_item_t or mavlink_mission_item_int_t depending on _int_mode.

Definition at line 1494 of file mavlink_mission.cpp.

References _int_mode, mission_item_s::acceptance_radius, mission_item_s::altitude, mission_item_s::altitude_is_relative, mission_item_s::autocontinue, mission_item_s::circle_radius, math::degrees(), mission_item_s::do_jump_mission_index, mission_item_s::do_jump_repeat_count, mission_item_s::force_heading, mission_item_s::frame, mission_item_s::land_precision, mission_item_s::lat, mission_item_s::loiter_exit_xtrack, mission_item_s::loiter_radius, mission_item_s::lon, mission_item_s::nav_cmd, NAV_CMD_DO_CHANGE_SPEED, NAV_CMD_DO_DIGICAM_CONTROL, NAV_CMD_DO_JUMP, NAV_CMD_DO_LAND_START, NAV_CMD_DO_MOUNT_CONFIGURE, NAV_CMD_DO_MOUNT_CONTROL, NAV_CMD_DO_SET_CAM_TRIGG_DIST, NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL, NAV_CMD_DO_SET_HOME, NAV_CMD_DO_SET_ROI, NAV_CMD_DO_SET_SERVO, NAV_CMD_DO_TRIGGER_CONTROL, NAV_CMD_DO_VTOL_TRANSITION, NAV_CMD_IMAGE_START_CAPTURE, NAV_CMD_IMAGE_STOP_CAPTURE, NAV_CMD_LAND, NAV_CMD_LOITER_TIME_LIMIT, NAV_CMD_LOITER_TO_ALT, NAV_CMD_LOITER_UNLIMITED, NAV_CMD_SET_CAMERA_MODE, NAV_CMD_TAKEOFF, NAV_CMD_VIDEO_START_CAPTURE, NAV_CMD_VIDEO_STOP_CAPTURE, NAV_CMD_WAYPOINT, mission_item_s::params, mission_item_s::pitch_min, mission_item_s::time_inside, mission_item_s::vertex_count, and mission_item_s::yaw.

Referenced by send_mission_item().

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◆ handle_message()

void MavlinkMissionManager::handle_message ( const mavlink_message_t * msg )

Definition at line 550 of file mavlink_mission.cpp.

References handle_mission_ack(), handle_mission_clear_all(), handle_mission_count(), handle_mission_item(), handle_mission_item_int(), handle_mission_request(), handle_mission_request_int(), handle_mission_request_list(), and handle_mission_set_current().

Referenced by MavlinkReceiver::Run().

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◆ handle_mission_ack()

void MavlinkMissionManager::handle_mission_ack ( const mavlink_message_t * msg )

private

Definition at line 596 of file mavlink_mission.cpp.

References _int_mode, _mavlink, _time_last_recv, _transfer_partner_compid, _transfer_partner_sysid, _transfer_seq, CHECK_SYSID_COMPID_MISSION, current_item_count(), hrt_absolute_time(), MAVLINK_WPM_STATE_GETLIST, MAVLINK_WPM_STATE_SENDLIST, send_mission_request(), Mavlink::send_statustext_critical(), and switch_to_idle_state().

Referenced by handle_message().

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◆ handle_mission_clear_all()

void MavlinkMissionManager::handle_mission_clear_all ( const mavlink_message_t * msg )

private

Definition at line 1205 of file mavlink_mission.cpp.

References _dataman_id, _mavlink, _time_last_recv, _transfer_partner_compid, _transfer_partner_sysid, CHECK_SYSID_COMPID_MISSION, DM_KEY_WAYPOINTS_OFFBOARD_0, DM_KEY_WAYPOINTS_OFFBOARD_1, hrt_absolute_time(), MAVLINK_WPM_STATE_IDLE, send_mission_ack(), Mavlink::send_statustext_critical(), update_active_mission(), update_geofence_count(), and update_safepoint_count().

Referenced by handle_message().

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◆ handle_mission_count()

void MavlinkMissionManager::handle_mission_count ( const mavlink_message_t * msg )

private

Definition at line 838 of file mavlink_mission.cpp.

References _dataman_id, _geofence_locked, _mavlink, _time_last_recv, _transfer_count, _transfer_current_seq, _transfer_dataman_id, _transfer_in_progress, _transfer_partner_compid, _transfer_partner_sysid, _transfer_seq, CHECK_SYSID_COMPID_MISSION, current_max_item_count(), DM_KEY_FENCE_POINTS, DM_KEY_WAYPOINTS_OFFBOARD_0, DM_KEY_WAYPOINTS_OFFBOARD_1, dm_lock(), hrt_absolute_time(), MAVLINK_WPM_STATE_GETLIST, MAVLINK_WPM_STATE_IDLE, send_mission_ack(), send_mission_request(), Mavlink::send_statustext_critical(), update_active_mission(), update_geofence_count(), and update_safepoint_count().

Referenced by handle_message().

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◆ handle_mission_item()

void MavlinkMissionManager::handle_mission_item ( const mavlink_message_t * msg )

private

Definition at line 969 of file mavlink_mission.cpp.

References _int_mode, and handle_mission_item_both().

Referenced by handle_message().

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◆ handle_mission_item_both()

void MavlinkMissionManager::handle_mission_item_both ( const mavlink_message_t * msg )

private

Definition at line 991 of file mavlink_mission.cpp.

References _mavlink, _time_last_recv, _transfer_count, _transfer_current_seq, _transfer_dataman_id, _transfer_in_progress, _transfer_partner_compid, _transfer_partner_sysid, _transfer_seq, mission_fence_point_s::alt, mission_safe_point_s::alt, mission_item_s::altitude, CHECK_SYSID_COMPID_MISSION, mission_item_s::circle_radius, mission_fence_point_s::circle_radius, DM_KEY_FENCE_POINTS, DM_KEY_SAFE_POINTS, DM_PERSIST_POWER_ON_RESET, dm_write(), mission_item_s::frame, mission_fence_point_s::frame, mission_safe_point_s::frame, hrt_absolute_time(), mission_item_s::lat, mission_fence_point_s::lat, mission_safe_point_s::lat, mission_item_s::lon, mission_fence_point_s::lon, mission_safe_point_s::lon, MAVLINK_WPM_STATE_GETLIST, MAVLINK_WPM_STATE_IDLE, mission_item_s::nav_cmd, mission_fence_point_s::nav_cmd, parse_mavlink_mission_item(), send_mission_ack(), send_mission_request(), Mavlink::send_statustext_critical(), switch_to_idle_state(), update_active_mission(), update_geofence_count(), update_safepoint_count(), mission_item_s::vertex_count, and mission_fence_point_s::vertex_count.

Referenced by handle_mission_item(), and handle_mission_item_int().

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◆ handle_mission_item_int()

void MavlinkMissionManager::handle_mission_item_int ( const mavlink_message_t * msg )

private

Definition at line 980 of file mavlink_mission.cpp.

References _int_mode, and handle_mission_item_both().

Referenced by handle_message().

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◆ handle_mission_request()

void MavlinkMissionManager::handle_mission_request ( const mavlink_message_t * msg )

private

Definition at line 732 of file mavlink_mission.cpp.

References _int_mode, and handle_mission_request_both().

Referenced by handle_message().

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◆ handle_mission_request_both()

void MavlinkMissionManager::handle_mission_request_both ( const mavlink_message_t * msg )

private

Definition at line 754 of file mavlink_mission.cpp.

References _mavlink, _time_last_recv, _transfer_count, _transfer_partner_compid, _transfer_partner_sysid, _transfer_seq, CHECK_SYSID_COMPID_MISSION, current_item_count(), hrt_absolute_time(), MAVLINK_WPM_STATE_IDLE, MAVLINK_WPM_STATE_SENDLIST, send_mission_ack(), send_mission_item(), Mavlink::send_statustext_critical(), and switch_to_idle_state().

Referenced by handle_mission_request(), and handle_mission_request_int().

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◆ handle_mission_request_int()

void MavlinkMissionManager::handle_mission_request_int ( const mavlink_message_t * msg )

private

Definition at line 743 of file mavlink_mission.cpp.

References _int_mode, and handle_mission_request_both().

Referenced by handle_message().

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◆ handle_mission_request_list()

void MavlinkMissionManager::handle_mission_request_list ( const mavlink_message_t * msg )

private

Definition at line 681 of file mavlink_mission.cpp.

References _mavlink, _time_last_recv, _transfer_count, _transfer_partner_compid, _transfer_partner_sysid, _transfer_seq, CHECK_SYSID_COMPID_MISSION, current_item_count(), hrt_absolute_time(), load_geofence_stats(), load_safepoint_stats(), MAVLINK_WPM_STATE_IDLE, MAVLINK_WPM_STATE_SENDLIST, send_mission_count(), and Mavlink::send_statustext_critical().

Referenced by handle_message().

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◆ handle_mission_set_current()

void MavlinkMissionManager::handle_mission_set_current ( const mavlink_message_t * msg )

private

Definition at line 646 of file mavlink_mission.cpp.

References _count, _dataman_id, _mavlink, _time_last_recv, CHECK_SYSID_COMPID_MISSION, hrt_absolute_time(), MAVLINK_WPM_STATE_IDLE, Mavlink::send_statustext_critical(), and update_active_mission().

Referenced by handle_message().

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◆ init_offboard_mission()

void MavlinkMissionManager::init_offboard_mission ( )

private

Definition at line 80 of file mavlink_mission.cpp.

References _count, _current_seq, _dataman_id, _dataman_init, _my_dataman_id, mission_s::count, mission_s::current_seq, mission_s::dataman_id, DM_KEY_MISSION_STATE, dm_lock(), dm_read(), dm_unlock(), load_geofence_stats(), and load_safepoint_stats().

Referenced by MavlinkMissionManager().

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◆ load_geofence_stats()

int MavlinkMissionManager::load_geofence_stats ( )

private

load geofence stats from dataman

Definition at line 118 of file mavlink_mission.cpp.

References _count, _geofence_update_counter, DM_KEY_FENCE_POINTS, dm_read(), mission_stats_entry_s::num_items, and mission_stats_entry_s::update_counter.

Referenced by handle_mission_request_list(), and init_offboard_mission().

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◆ load_safepoint_stats()

int MavlinkMissionManager::load_safepoint_stats ( )

private

load safe point stats from dataman

Definition at line 133 of file mavlink_mission.cpp.

References _count, DM_KEY_SAFE_POINTS, dm_read(), and mission_stats_entry_s::num_items.

Referenced by handle_mission_request_list(), and init_offboard_mission().

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◆ operator=()

MavlinkMissionManager& MavlinkMissionManager::operator= ( const MavlinkMissionManager & )

private

◆ parse_mavlink_mission_item()

int MavlinkMissionManager::parse_mavlink_mission_item	(	const mavlink_mission_item_t *	mavlink_mission_item,
		struct mission_item_s *	mission_item
	)

private

Parse mavlink MISSION_ITEM message to get mission_item_s.

Parameters

mavlink_mission_item	pointer to mavlink_mission_item_t or mavlink_mission_item_int_t depending on _int_mode
mission_item	pointer to mission_item to construct

Definition at line 1263 of file mavlink_mission.cpp.

References _int_mode, mission_item_s::acceptance_radius, mission_item_s::altitude, mission_item_s::altitude_is_relative, mission_item_s::autocontinue, mission_item_s::circle_radius, mission_item_s::do_jump_current_count, mission_item_s::do_jump_mission_index, mission_item_s::do_jump_repeat_count, mission_item_s::force_heading, mission_item_s::frame, mission_item_s::land_precision, mission_item_s::lat, mission_item_s::loiter_exit_xtrack, mission_item_s::loiter_radius, mission_item_s::lon, mission_item_s::nav_cmd, NAV_CMD_DO_JUMP, NAV_CMD_DO_SET_ROI, NAV_CMD_DO_SET_ROI_LOCATION, NAV_CMD_INVALID, NAV_CMD_LAND, NAV_CMD_LOITER_TIME_LIMIT, NAV_CMD_LOITER_TO_ALT, NAV_CMD_LOITER_UNLIMITED, NAV_CMD_TAKEOFF, NAV_CMD_WAYPOINT, mission_item_s::origin, ORIGIN_MAVLINK, mission_item_s::params, mission_item_s::pitch_min, math::radians(), mission_item_s::time_inside, mission_item_s::vertex_count, matrix::wrap_2pi(), and mission_item_s::yaw.

Referenced by handle_mission_item_both().

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◆ send()

void MavlinkMissionManager::send ( const hrt_abstime t )

Handle sending of messages.

Call this regularly at a fixed frequency.

Parameters

t	current time

Definition at line 470 of file mavlink_mission.cpp.

References _current_seq, _last_reached, _mavlink, _mission_result_sub, _reached_sent_count, _slow_rate_limiter, _time_last_recv, _time_last_sent, _transfer_in_progress, _transfer_partner_compid, _transfer_partner_sysid, _transfer_seq, MavlinkRateLimiter::check(), Mavlink::get_mode(), hrt_elapsed_time(), MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT, MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT, Mavlink::MAVLINK_MODE_IRIDIUM, MAVLINK_WPM_STATE_GETLIST, MAVLINK_WPM_STATE_IDLE, send_mission_current(), send_mission_item(), send_mission_item_reached(), send_mission_request(), Mavlink::send_statustext_critical(), switch_to_idle_state(), and uORB::Subscription::update().

Referenced by MavlinkReceiver::Run().

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◆ send_mission_ack()

void MavlinkMissionManager::send_mission_ack	(	uint8_t	sysid,
		uint8_t	compid,
		uint8_t	type
	)

private

Sends an waypoint ack message.

Definition at line 249 of file mavlink_mission.cpp.

References _mavlink, and Mavlink::get_channel().

Referenced by handle_mission_clear_all(), handle_mission_count(), handle_mission_item_both(), handle_mission_request_both(), and send_mission_item().

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◆ send_mission_count()

void MavlinkMissionManager::send_mission_count	(	uint8_t	sysid,
		uint8_t	compid,
		uint16_t	count,
		MAV_MISSION_TYPE	mission_type
	)

private

Definition at line 287 of file mavlink_mission.cpp.

References _mavlink, _time_last_sent, Mavlink::get_channel(), and hrt_absolute_time().

Referenced by check_active_mission(), and handle_mission_request_list().

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◆ send_mission_current()

void MavlinkMissionManager::send_mission_current ( uint16_t seq )

private

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

Parameters

seq	The waypoint sequence number the MAV should fly to.

Definition at line 264 of file mavlink_mission.cpp.

References _count, _mavlink, Mavlink::get_channel(), and Mavlink::send_statustext_critical().

Referenced by send().

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◆ send_mission_item()

void MavlinkMissionManager::send_mission_item	(	uint8_t	sysid,
		uint8_t	compid,
		uint16_t	seq
	)

private

Definition at line 305 of file mavlink_mission.cpp.

References _current_seq, _dataman_id, _filesystem_errcount, _int_mode, _mavlink, _time_last_sent, _transfer_partner_compid, _transfer_partner_sysid, mission_fence_point_s::alt, mission_safe_point_s::alt, mission_item_s::altitude, mission_item_s::circle_radius, mission_fence_point_s::circle_radius, DM_KEY_FENCE_POINTS, DM_KEY_SAFE_POINTS, dm_read(), FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT, format_mavlink_mission_item(), mission_item_s::frame, mission_fence_point_s::frame, mission_safe_point_s::frame, Mavlink::get_channel(), hrt_absolute_time(), mission_item_s::lat, mission_fence_point_s::lat, mission_safe_point_s::lat, mission_item_s::lon, mission_fence_point_s::lon, mission_safe_point_s::lon, mission_item_s::nav_cmd, mission_fence_point_s::nav_cmd, send_mission_ack(), Mavlink::send_statustext_critical(), mission_item_s::vertex_count, and mission_fence_point_s::vertex_count.

Referenced by handle_mission_request_both(), and send().

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◆ send_mission_item_reached()

void MavlinkMissionManager::send_mission_item_reached ( uint16_t seq )

private

emits a message that a waypoint reached

This function broadcasts a message that a waypoint is reached.

Parameters

seq	The waypoint sequence number the MAV has reached.

Definition at line 457 of file mavlink_mission.cpp.

References _mavlink, and Mavlink::get_channel().

Referenced by send().

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◆ send_mission_request()

void MavlinkMissionManager::send_mission_request	(	uint8_t	sysid,
		uint8_t	compid,
		uint16_t	seq
	)

private

Definition at line 420 of file mavlink_mission.cpp.

References _int_mode, _mavlink, _time_last_sent, current_max_item_count(), Mavlink::get_channel(), hrt_absolute_time(), and Mavlink::send_statustext_critical().

Referenced by handle_mission_ack(), handle_mission_count(), handle_mission_item_both(), and send().

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◆ switch_to_idle_state()

void MavlinkMissionManager::switch_to_idle_state ( )

private

set _state to idle (and do necessary cleanup)

Definition at line 953 of file mavlink_mission.cpp.

References _geofence_locked, DM_KEY_FENCE_POINTS, dm_unlock(), and MAVLINK_WPM_STATE_IDLE.

Referenced by handle_mission_ack(), handle_mission_item_both(), handle_mission_request_both(), and send().

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◆ update_active_mission()

int MavlinkMissionManager::update_active_mission	(	dm_item_t	dataman_id,
		uint16_t	count,
		int32_t	seq
	)

private

Publish mission topic to notify navigator about changes.

Definition at line 150 of file mavlink_mission.cpp.

References _count, _current_seq, _dataman_id, _filesystem_errcount, _mavlink, _my_dataman_id, _offboard_mission_pub, DM_KEY_MISSION_STATE, dm_lock(), DM_PERSIST_POWER_ON_RESET, dm_unlock(), dm_write(), FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT, hrt_absolute_time(), uORB::Publication< T >::publish(), Mavlink::send_statustext_critical(), and mission_s::timestamp.

Referenced by handle_mission_clear_all(), handle_mission_count(), handle_mission_item_both(), and handle_mission_set_current().

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◆ update_geofence_count()

int MavlinkMissionManager::update_geofence_count ( unsigned count )

private

store the geofence count to dataman

Definition at line 198 of file mavlink_mission.cpp.

References _count, _filesystem_errcount, _geofence_update_counter, _mavlink, DM_KEY_FENCE_POINTS, DM_PERSIST_POWER_ON_RESET, dm_write(), FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT, mission_stats_entry_s::num_items, Mavlink::send_statustext_critical(), and mission_stats_entry_s::update_counter.

Referenced by handle_mission_clear_all(), handle_mission_count(), and handle_mission_item_both().

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◆ update_safepoint_count()

int MavlinkMissionManager::update_safepoint_count ( unsigned count )

private

store the safepoint count to dataman

Definition at line 224 of file mavlink_mission.cpp.

References _count, _filesystem_errcount, _mavlink, _safepoint_update_counter, DM_KEY_SAFE_POINTS, DM_PERSIST_POWER_ON_RESET, dm_write(), FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT, mission_stats_entry_s::num_items, Mavlink::send_statustext_critical(), and mission_stats_entry_s::update_counter.

Referenced by handle_mission_clear_all(), handle_mission_count(), and handle_mission_item_both().

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Member Data Documentation

◆ _count

uint16_t MavlinkMissionManager::_count = { 0, 0, 0 }

staticprivate

Count of items in (active) mission for each MAV_MISSION_TYPE.

Definition at line 112 of file mavlink_mission.h.

Referenced by check_active_mission(), current_item_count(), handle_mission_set_current(), init_offboard_mission(), load_geofence_stats(), load_safepoint_stats(), send_mission_current(), update_active_mission(), update_geofence_count(), and update_safepoint_count().

◆ _current_seq

int32_t MavlinkMissionManager::_current_seq = 0

staticprivate

Current item sequence in active mission.

Definition at line 113 of file mavlink_mission.h.

Referenced by init_offboard_mission(), send(), send_mission_item(), and update_active_mission().

◆ _dataman_id

dm_item_t MavlinkMissionManager::_dataman_id = DM_KEY_WAYPOINTS_OFFBOARD_0

staticprivate

Global Dataman storage ID for active mission.

Definition at line 107 of file mavlink_mission.h.

Referenced by check_active_mission(), handle_mission_clear_all(), handle_mission_count(), handle_mission_set_current(), init_offboard_mission(), send_mission_item(), and update_active_mission().

◆ _dataman_init

bool MavlinkMissionManager::_dataman_init = false

staticprivate

Dataman initialized.

Definition at line 110 of file mavlink_mission.h.

Referenced by init_offboard_mission().

◆ _filesystem_errcount

unsigned MavlinkMissionManager::_filesystem_errcount {0}

private

File system error count.

Definition at line 105 of file mavlink_mission.h.

Referenced by send_mission_item(), update_active_mission(), update_geofence_count(), and update_safepoint_count().

◆ _geofence_locked

bool MavlinkMissionManager::_geofence_locked {false}

private

if true, we currently hold the dm_lock for the geofence (transaction in progress)

Definition at line 135 of file mavlink_mission.h.

Referenced by handle_mission_count(), and switch_to_idle_state().

◆ _geofence_update_counter

uint16_t MavlinkMissionManager::_geofence_update_counter = 0

staticprivate

Definition at line 133 of file mavlink_mission.h.

Referenced by load_geofence_stats(), and update_geofence_count().

◆ _int_mode

bool MavlinkMissionManager::_int_mode {false}

private

Use accurate int32 instead of float.

Definition at line 103 of file mavlink_mission.h.

Referenced by format_mavlink_mission_item(), handle_mission_ack(), handle_mission_item(), handle_mission_item_int(), handle_mission_request(), handle_mission_request_int(), parse_mavlink_mission_item(), send_mission_item(), and send_mission_request().

◆ _last_reached

int32_t MavlinkMissionManager::_last_reached {-1}

private

Last reached waypoint in active mission (-1 means nothing reached)

Definition at line 115 of file mavlink_mission.h.

Referenced by send().

◆ _mavlink

Mavlink* MavlinkMissionManager::_mavlink

private

◆ _mission_result_sub

uORB::Subscription MavlinkMissionManager::_mission_result_sub {ORB_ID(mission_result)}

private

Definition at line 129 of file mavlink_mission.h.

Referenced by send().

◆ _my_dataman_id

dm_item_t MavlinkMissionManager::_my_dataman_id {DM_KEY_WAYPOINTS_OFFBOARD_0}

private

class Dataman storage ID

Definition at line 108 of file mavlink_mission.h.

Referenced by check_active_mission(), init_offboard_mission(), and update_active_mission().

◆ _offboard_mission_pub

uORB::Publication<mission_s> MavlinkMissionManager::_offboard_mission_pub {ORB_ID(mission)}

private

Definition at line 131 of file mavlink_mission.h.

Referenced by update_active_mission().

◆ _reached_sent_count

uint8_t MavlinkMissionManager::_reached_sent_count {0}

private

last time when the vehicle reached a waypoint

Definition at line 101 of file mavlink_mission.h.

Referenced by send().

◆ _safepoint_update_counter

uint16_t MavlinkMissionManager::_safepoint_update_counter = 0

staticprivate

Definition at line 134 of file mavlink_mission.h.

Referenced by update_safepoint_count().

◆ _slow_rate_limiter

MavlinkRateLimiter MavlinkMissionManager::_slow_rate_limiter {100 * 1000}

private

Rate limit sending of the current WP sequence to 10 Hz.

Definition at line 137 of file mavlink_mission.h.

Referenced by send().

◆ _time_last_recv

uint64_t MavlinkMissionManager::_time_last_recv {0}

private

Definition at line 98 of file mavlink_mission.h.

Referenced by handle_mission_ack(), handle_mission_clear_all(), handle_mission_count(), handle_mission_item_both(), handle_mission_request_both(), handle_mission_request_list(), handle_mission_set_current(), and send().

◆ _time_last_sent

uint64_t MavlinkMissionManager::_time_last_sent {0}

private

Definition at line 99 of file mavlink_mission.h.

Referenced by send(), send_mission_count(), send_mission_item(), and send_mission_request().

◆ _transfer_count

uint16_t MavlinkMissionManager::_transfer_count {0}

private

Items count in current transmission.

Definition at line 119 of file mavlink_mission.h.

Referenced by handle_mission_count(), handle_mission_item_both(), handle_mission_request_both(), and handle_mission_request_list().

◆ _transfer_current_seq

int32_t MavlinkMissionManager::_transfer_current_seq {-1}

private

Current item ID for current transmission (-1 means not initialized)

Definition at line 122 of file mavlink_mission.h.

Referenced by handle_mission_count(), and handle_mission_item_both().

◆ _transfer_dataman_id

dm_item_t MavlinkMissionManager::_transfer_dataman_id {DM_KEY_WAYPOINTS_OFFBOARD_1}

private

Dataman storage ID for current transmission.

Definition at line 117 of file mavlink_mission.h.

Referenced by handle_mission_count(), and handle_mission_item_both().

◆ _transfer_in_progress

bool MavlinkMissionManager::_transfer_in_progress = false

staticprivate

Global variable checking for current transmission.

Definition at line 127 of file mavlink_mission.h.

Referenced by handle_mission_count(), handle_mission_item_both(), and send().

◆ _transfer_partner_compid

uint8_t MavlinkMissionManager::_transfer_partner_compid {0}

private

Partner component ID for current transmission.

Definition at line 125 of file mavlink_mission.h.

Referenced by check_active_mission(), handle_mission_ack(), handle_mission_clear_all(), handle_mission_count(), handle_mission_item_both(), handle_mission_request_both(), handle_mission_request_list(), send(), and send_mission_item().

◆ _transfer_partner_sysid

uint8_t MavlinkMissionManager::_transfer_partner_sysid {0}

private

Partner system ID for current transmission.

Definition at line 124 of file mavlink_mission.h.

Referenced by check_active_mission(), handle_mission_ack(), handle_mission_clear_all(), handle_mission_count(), handle_mission_item_both(), handle_mission_request_both(), handle_mission_request_list(), send(), and send_mission_item().

◆ _transfer_seq

uint16_t MavlinkMissionManager::_transfer_seq {0}

private

Item sequence in current transmission.

Definition at line 120 of file mavlink_mission.h.

Referenced by handle_mission_ack(), handle_mission_count(), handle_mission_item_both(), handle_mission_request_both(), handle_mission_request_list(), and send().

◆ FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT

constexpr unsigned int MavlinkMissionManager::FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT

staticprivate

Initial value:

=

2

Error count limit before stopping to report FS errors.

Definition at line 141 of file mavlink_mission.h.

Referenced by send_mission_item(), update_active_mission(), update_geofence_count(), and update_safepoint_count().

◆ MAX_COUNT

constexpr uint16_t MavlinkMissionManager::MAX_COUNT

staticprivate

Initial value:

= {
        DM_KEY_WAYPOINTS_OFFBOARD_0_MAX,
        DM_KEY_FENCE_POINTS_MAX - 1,
        DM_KEY_SAFE_POINTS_MAX - 1
    }

Maximum number of mission items for each type (fence & safe points use the first item for the stats)

Definition at line 143 of file mavlink_mission.h.

Referenced by current_max_item_count().

The documentation for this class was generated from the following files:

src/modules/mavlink/mavlink_mission.h
src/modules/mavlink/mavlink_mission.cpp

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MavlinkMissionManager() [1/2]

◆ ~MavlinkMissionManager()

◆ MavlinkMissionManager() [2/2]

Member Function Documentation

◆ check_active_mission()

◆ current_item_count()

◆ current_max_item_count()

◆ format_mavlink_mission_item()

◆ handle_message()

◆ handle_mission_ack()

◆ handle_mission_clear_all()

◆ handle_mission_count()

◆ handle_mission_item()

◆ handle_mission_item_both()

◆ handle_mission_item_int()

◆ handle_mission_request()

◆ handle_mission_request_both()

◆ handle_mission_request_int()

◆ handle_mission_request_list()

◆ handle_mission_set_current()

◆ init_offboard_mission()

◆ load_geofence_stats()

◆ load_safepoint_stats()

◆ operator=()

◆ parse_mavlink_mission_item()

◆ send()

◆ send_mission_ack()

◆ send_mission_count()

◆ send_mission_current()

◆ send_mission_item()

◆ send_mission_item_reached()

◆ send_mission_request()

◆ switch_to_idle_state()

◆ update_active_mission()

◆ update_geofence_count()

◆ update_safepoint_count()

Member Data Documentation

◆ _count

◆ _current_seq

◆ _dataman_id

◆ _dataman_init

◆ _filesystem_errcount

◆ _geofence_locked

◆ _geofence_update_counter

◆ _int_mode

◆ _last_reached

◆ _mavlink

◆ _mission_result_sub

◆ _my_dataman_id

◆ _offboard_mission_pub

◆ _reached_sent_count

◆ _safepoint_update_counter

◆ _slow_rate_limiter

◆ _time_last_recv

◆ _time_last_sent

◆ _transfer_count

◆ _transfer_current_seq

◆ _transfer_dataman_id

◆ _transfer_in_progress

◆ _transfer_partner_compid

◆ _transfer_partner_sysid

◆ _transfer_seq

◆ FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT

◆ MAX_COUNT