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Robustify mission upload/download (take 2) (#8794)

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* Revert "mavlink_mission: don't retransmit automatically"

This reverts commit 4e008fe891.

* mavlink_mission: don't retry to send mission item

The mission items need to be requested one by one by a ground station.
This is a "pull" protocol and we should not retry to "push" the mission
items down.

If we do this we can trigger the situation where the autopilot keeps
retrying and the ground station does not time out because it keeps
receiving items (even though the items are the wrong ones).

* mavlink_mission: reduce retry timeout

When actively re-requesting lost mission items, we can be more agressive
and therefore lose less time when a mission item is lost on the way.
This commit is contained in:
Julian Oes
2018-02-01 22:59:22 +01:00
committed by Daniel Agar
parent 102c0ead53
commit 9c86cdab2e
2 changed files with 19 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_mission.cpp
+16 -2
View File
@@ -296,6 +296,8 @@ MavlinkMissionManager::send_mission_current(uint16_t seq)
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;
@@ -362,6 +364,8 @@ 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));
@@ -426,6 +430,8 @@ 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;
@@ -518,8 +524,15 @@ MavlinkMissionManager::send(const hrt_abstime now)
}
/* check for timed-out operations */
if (_state != MAVLINK_WPM_STATE_IDLE && (_time_last_recv > 0)
&& hrt_elapsed_time(&_time_last_recv) > _operation_timeout_us) {
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);
@@ -531,6 +544,7 @@ MavlinkMissionManager::send(const hrt_abstime now)
} else if (_state == MAVLINK_WPM_STATE_IDLE) {
// reset flags
_time_last_sent = 0;
_time_last_recv = 0;
}
}
src/modules/mavlink/mavlink_mission.h
+3 -2
View File
@@ -67,6 +67,8 @@ enum MAVLINK_WPM_CODES {
MAVLINK_WPM_CODE_ENUM_END
};
static constexpr uint64_t MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT = 5000000; ///< Protocol action timeout in us
static constexpr uint64_t MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT = 250000; ///< Protocol retry timeout in us
class Mavlink;
@@ -92,13 +94,12 @@ private:
enum MAV_MISSION_TYPE _mission_type {MAV_MISSION_TYPE_MISSION}; ///< mission type of current transmission (only one at a time possible)
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
bool _int_mode{false}; ///< Use accurate int32 instead of float
static constexpr uint32_t _operation_timeout_us = 5000000;
unsigned _filesystem_errcount{0}; ///< File system error count
static dm_item_t _dataman_id; ///< Global Dataman storage ID for active mission