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fix(mavlink): MISSION_ITEM deprecated - don't smap fail case

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This commit is contained in:
Hamish Willee
2026-05-15 13:31:21 +10:00
parent 1dc379a7f1
commit 926c5b3a2a
2 changed files with 16 additions and 2 deletions
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src/modules/mavlink/mavlink_mission.cpp
+14 -2
View File
@@ -638,6 +638,11 @@ MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
switch_to_idle_state();
_transfer_in_progress = false;
} else if (wpa.type == MAV_MISSION_UNSUPPORTED) {
PX4_WARN("WPM: GCS does not support MISSION_REQUEST_INT, upload failed");
switch_to_idle_state();
_transfer_in_progress = false;
} else if (wpa.type != MAV_MISSION_ACCEPTED) {
PX4_WARN("Mission ack result was %d", wpa.type);
}
@@ -934,6 +939,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
}
_state = MAVLINK_WPM_STATE_GETLIST;
_deprecated_item_warned = false;
_transfer_seq = 0;
_transfer_count = wpc.count;
_transfer_current_seq = -1;
@@ -983,13 +989,18 @@ void
MavlinkMissionManager::switch_to_idle_state()
{
_state = MAVLINK_WPM_STATE_IDLE;
_deprecated_item_warned = false;
}
void
MavlinkMissionManager::handle_mission_item(const mavlink_message_t *msg)
{
_mavlink.send_statustext_info("WPM: received deprecated MISSION_ITEM, use MISSION_ITEM_INT\t");
if (!_deprecated_item_warned) {
_mavlink.send_statustext_info("WPM: received deprecated MISSION_ITEM, use MISSION_ITEM_INT\t");
_deprecated_item_warned = true;
}
handle_mission_item_both(msg, false);
}
@@ -1333,7 +1344,8 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
mavlink_mission_item->frame == MAV_FRAME_GLOBAL_INT ||
mavlink_mission_item->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
// 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.
// For global coordinate frames the frame field determines the format;
// int_mode is only needed for MAV_FRAME_MISSION items below.
const bool frame_is_int = (mavlink_mission_item->frame == MAV_FRAME_GLOBAL_INT ||
mavlink_mission_item->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT);
src/modules/mavlink/mavlink_mission.h
+2
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@@ -114,6 +114,8 @@ private:
uint8_t _reached_sent_count{0}; ///< last time when the vehicle reached a waypoint
bool _deprecated_item_warned{false}; ///< Suppress repeated MISSION_ITEM deprecation warnings per transfer
unsigned _filesystem_errcount{0}; ///< File system error count
static dm_item_t _mission_dataman_id; ///< Global Dataman storage ID for active mission