mavlink_mission.cpp

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/**
 * @file mavlink_mission.cpp
 * MAVLink mission manager implementation.
 *
 * @author Lorenz Meier <lorenz@px4.io>
 * @author Julian Oes <julian@px4.io>
 * @author Anton Babushkin <anton@px4.io>
 */

#include "mavlink_mission.h"
#include "mavlink_main.h"

#include <lib/ecl/geo/geo.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <px4_platform_common/defines.h>
#include <mathlib/mathlib.h>
#include <matrix/math.hpp>
#include <navigator/navigation.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>

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 = {};
    int read_result = 0;

    switch (_mission_type) {

    case MAV_MISSION_TYPE_MISSION: {
            read_result = 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_result = 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_safe_point_s mission_safe_point;
            read_result = dm_read(DM_KEY_SAFE_POINTS, seq + 1, &mission_safe_point, sizeof(mission_safe_point_s)) ==
                      sizeof(mission_safe_point_s);

            mission_item.nav_cmd = MAV_CMD_NAV_RALLY_POINT;
            mission_item.frame = mission_safe_point.frame;
            mission_item.lat = mission_safe_point.lat;
            mission_item.lon = mission_safe_point.lon;
            mission_item.altitude = mission_safe_point.alt;
        }
        break;

    default:
        _mavlink->send_statustext_critical("Received unknown mission type, abort.");
        break;
    }

    if (read_result > 0) {
        _time_last_sent = hrt_absolute_time();

        if (_int_mode) {
            mavlink_mission_item_int_t wp = {};
            format_mavlink_mission_item(&mission_item, reinterpret_cast<mavlink_mission_item_t *>(&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, but don't interfere
             * if there are ongoing transfers happening already. */
            if (_state == MAVLINK_WPM_STATE_IDLE) {
                _mission_type = MAV_MISSION_TYPE_MISSION;
                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_safe_point_s mission_safe_point;
                mission_safe_point.lat = mission_item.lat;
                mission_safe_point.lon = mission_item.lon;
                mission_safe_point.alt = mission_item.altitude;
                mission_safe_point.frame = mission_item.frame;
                write_failed = dm_write(DM_KEY_SAFE_POINTS, wp.seq + 1, DM_PERSIST_POWER_ON_RESET, &mission_safe_point,
                            sizeof(mission_safe_point_s)) != sizeof(mission_safe_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<const mavlink_mission_item_int_t *>(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_int_t *>(mavlink_mission_item);

            item_int->x = round(mission_item->lat * 1e7);
            item_int->y = 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);
    }
}