fix(mavlink): MISSION_ITEM deprecated

src/modules/mavlink/mavlink_mission.cpp

@@ -364,7 +364,6 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t
 	if (read_success) {
 		_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));
 
@@ -377,20 +376,6 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t
 
 		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(sysid, compid, MAV_MISSION_ERROR);
 
@@ -447,7 +432,6 @@ MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint1
 	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;
@@ -457,19 +441,6 @@ MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint1
 
 		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\t");
 		events::send<uint16_t>(events::ID("mavlink_mission_wp_index_exceeds_list"), events::Log::Error,
@@ -611,11 +582,8 @@ MavlinkMissionManager::handle_message(const mavlink_message_t *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);
+		handle_mission_request_both(msg);
 		break;
 
 	case MAVLINK_MSG_ID_MISSION_COUNT:
@@ -665,19 +633,7 @@ MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
 
 			} else if (_state == MAVLINK_WPM_STATE_GETLIST) {
 
-				// INT or float mode is not supported
+				if (wpa.type == MAV_MISSION_OPERATION_CANCELLED) {
-				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_OPERATION_CANCELLED) {
 					PX4_DEBUG("WPM: MISSION_ACK CANCELLED, switch to state IDLE");
 					switch_to_idle_state();
 					_transfer_in_progress = false;
@@ -791,28 +747,6 @@ MavlinkMissionManager::handle_mission_request_list(const mavlink_message_t *msg)
 }
 
 
-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)
 {
@@ -1055,32 +989,21 @@ MavlinkMissionManager::switch_to_idle_state()
 void
 MavlinkMissionManager::handle_mission_item(const mavlink_message_t *msg)
 {
-	if (_int_mode) {
+	_mavlink.send_statustext_info("WPM: received deprecated MISSION_ITEM, use MISSION_ITEM_INT\t");
-		// It seems that we should be using the float mode, let's switch out of int mode.
+	handle_mission_item_both(msg, false);
-		_int_mode = false;
-	}
-
-	handle_mission_item_both(msg);
 }
 
 void
 MavlinkMissionManager::handle_mission_item_int(const mavlink_message_t *msg)
 {
-	if (!_int_mode) {
+	handle_mission_item_both(msg, true);
-		// 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)
+MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg, bool int_mode)
 {
-
+	// The mavlink_message may also contain a mavlink_mission_item_int_t; both structs have
-	// The mavlink_message could also contain a mavlink_mission_item_int_t. We ignore that here
+	// the same layout, so we decode as mavlink_mission_item_t and pass int_mode to the parser.
-	// 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);
 
@@ -1131,7 +1054,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
 
 			struct mission_item_s mission_item = {};
 
-			int ret = parse_mavlink_mission_item(&wp, &mission_item);
+			int ret = parse_mavlink_mission_item(&wp, int_mode, &mission_item);
 
 			if (ret != PX4_OK) {
 				PX4_DEBUG("WPM: MISSION_ITEM ERROR: seq %u invalid item", wp.seq);
@@ -1403,22 +1326,19 @@ MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg)
 
 int
 MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *mavlink_mission_item,
-		struct mission_item_s *mission_item)
+		bool int_mode, 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_INT ||
-			   mavlink_mission_item->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT))) {
+	    mavlink_mission_item->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
-		// This is a mission item with a global coordinate
+		// This is a mission item with a global coordinate.
+		// Detect int vs float from the frame field — no need for the int_mode parameter here.
+		const bool frame_is_int = (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 (frame_is_int) {
-		if ((mavlink_mission_item->frame == MAV_FRAME_GLOBAL_INT ||
+			/* The argument is actually a mavlink_mission_item_int_t.
-		     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
@@ -1571,8 +1491,8 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 		mission_item->params[2] = mavlink_mission_item->param3;
 		mission_item->params[3] = mavlink_mission_item->param4;
 
-		if (_int_mode) {
+		if (int_mode) {
-			/* The argument is actually a mavlink_mission_item_int_t in int_mode.
+			/* The argument is actually a mavlink_mission_item_int_t.
 			 * 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
@@ -1687,24 +1607,14 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
 		mavlink_mission_item->param3 = mission_item->params[2];
 		mavlink_mission_item->param4 = mission_item->params[3];
 
-		mavlink_mission_item->x = mission_item->params[4];
+		// This function receives a mavlink_mission_item_int_t cast as mavlink_mission_item_t;
-		mavlink_mission_item->y = mission_item->params[5];
+		// both structs have the same alignment — only int32_t vs. float differs for x and y.
-
-		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->params[4]);
 		item_int->y = round(mission_item->params[5]);
 
-		} else {
-			mavlink_mission_item->x = (float)mission_item->params[4];
-			mavlink_mission_item->y = (float)mission_item->params[5];
-		}
-
 		mavlink_mission_item->z = mission_item->params[6];
 
 		switch (mavlink_mission_item->command) {
@@ -1748,39 +1658,16 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
 		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) {
+		mavlink_mission_item->frame = mission_item->altitude_is_relative ?
-			if (_int_mode) {
+					      MAV_FRAME_GLOBAL_RELATIVE_ALT_INT : MAV_FRAME_GLOBAL_INT;
-				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:

src/modules/mavlink/mavlink_mission.h

@@ -114,8 +114,6 @@ private:
 
 	uint8_t			_reached_sent_count{0};			///< last time when the vehicle reached a waypoint
 
-	bool			_int_mode{true};			///< Use accurate int32 instead of float
-
 	unsigned		_filesystem_errcount{0};		///< File system error count
 
 	static dm_item_t	_mission_dataman_id;			///< Global Dataman storage ID for active mission
@@ -238,33 +236,31 @@ private:
 
 	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_item_both(const mavlink_message_t *msg, bool int_mode);
 
 	void handle_mission_clear_all(const mavlink_message_t *msg);
 
 	/**
-	 * Parse mavlink MISSION_ITEM message to get mission_item_s.
+	 * Parse mavlink MISSION_ITEM(_INT) message to get mission_item_s.
 	 *
 	 * @param mavlink_mission_item pointer to mavlink_mission_item_t or mavlink_mission_item_int_t
-	 *			       depending on _int_mode
+	 * @param int_mode             true if the message is a mavlink_mission_item_int_t
 	 * @param mission_item	       pointer to mission_item to construct
 	 */
-	int parse_mavlink_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
+	int parse_mavlink_mission_item(const mavlink_mission_item_t *mavlink_mission_item, bool int_mode,
+				       struct mission_item_s *mission_item);
 
 	/**
-	 * Format mission_item_s as mavlink MISSION_ITEM(_INT) message.
+	 * Format mission_item_s as mavlink MISSION_ITEM_INT message.
 	 *
 	 * @param mission_item:		pointer to the existing mission item
-	 * @param mavlink_mission_item: pointer to mavlink_mission_item_t or mavlink_mission_item_int_t
+	 * @param mavlink_mission_item: pointer to mavlink_mission_item_int_t cast as mavlink_mission_item_t
-	 *				depending on _int_mode.
 	 */
 	int format_mavlink_mission_item(const struct mission_item_s *mission_item,
 					mavlink_mission_item_t *mavlink_mission_item);