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fix(mavlink): accept spec-defined params in mission item validation

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The param validation table rejected mission items that QGC-generated
plans legitimately contain:

- NAV_VTOL_LAND param3 is the approach altitude per the MAVLink spec.
  QGC writes it in every VTOL landing pattern; PX4's mission logic
  ignores it, but that is no reason to reject the upload.
- DO_LAND_START param5-7 are the optional lat/lon/alt marker position
  per the spec, which QGC also writes.

Both made any QGC VTOL landing plan fail to upload with
MAV_MISSION_INVALID_PARAMx, surfaced by the SIH SITL VTOL tests.

Signed-off-by: Julian Oes <julian@oes.ch>
(cherry picked from commit fb4e62fd92)
This commit is contained in:
Julian Oes
2026-08-08 17:32:32 -07:00
committed by Ramon Roche
parent 60a6d6e86a
commit 88c9699be7
1 changed files with 2 additions and 2 deletions
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src/modules/mavlink/mavlink_command_params.hpp
+2 -2
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@@ -88,7 +88,7 @@ static constexpr Entry SupportedCommandParams[] = {
{ 31, 0x7B, 0x7B }, // NAV_LOITER_TO_ALT: p1:hdg,p2:radius,p4:xtrack; p5-7:lat/lon/alt
{ 80, 0x77, 0x77 }, // NAV_ROI: p1:mode,p2:wp_idx,p3:roi_idx; p5-7:lat/lon/alt
{ 84, 0x78, 0x7C }, // NAV_VTOL_TAKEOFF: mission:p4:yaw only (p3 unused by mission_block); cmd:p3:approach_hdg,p4:yaw; p5-7:lat/lon/alt
{ 85, 0x78, 0x7F }, // NAV_VTOL_LAND: mission:p4:yaw only (p1-3 unused by mission_block); cmd:p1:options,p2:approach_hdg,p3:loiter_r,p4:yaw; p5-7:lat/lon/alt
{ 85, 0x7C, 0x7F }, // NAV_VTOL_LAND: mission:p3:approach_alt (QGC sets it; unused by mission_block),p4:yaw; cmd:p1:options,p2:approach_hdg,p3:loiter_r,p4:yaw; p5-7:lat/lon/alt
{ 93, 0x0F, 0x0F }, // NAV_DELAY: p1:delay,p2:hour,p3:min,p4:sec
{ 112, 0x01, 0x01 }, // CONDITION_DELAY: p1:seconds
{ 114, 0x01, 0x01 }, // CONDITION_DISTANCE: p1:distance
@@ -96,7 +96,7 @@ static constexpr Entry SupportedCommandParams[] = {
{ 177, 0x03, 0x03 }, // DO_JUMP: p1:index,p2:count
{ 178, 0x07, 0x07 }, // DO_CHANGE_SPEED: p1:type,p2:speed,p3:throttle
{ 179, 0x7F, 0x7F }, // DO_SET_HOME: p1:use_current,p2:roll,p3:pitch,p4:yaw; p5-7:lat/lon/alt
{ 189, 0x00, 0x00 }, // DO_LAND_START: no params
{ 189, 0x70, 0x70 }, // DO_LAND_START: p5-7:lat/lon/alt (optional marker position per spec; QGC sets it)
{ 195, 0x70, 0x71 }, // DO_SET_ROI_LOCATION: mission:p5-7:lat/lon/alt; cmd:p1:gimbal,p5-7:lat/lon/alt
{ 196, 0x01, 0x01 }, // DO_SET_ROI_WPNEXT_OFFSET: p1:gimbal_id
{ 197, 0x01, 0x01 }, // DO_SET_ROI_NONE: p1:gimbal_id