missionResult: remove unnecessary constants and rename instance_count to mission_update_counter

msg/MissionResult.msg

@@ -1,9 +1,6 @@
 uint64 timestamp				# time since system start (microseconds)
-uint8 MISSION_EXECUTION_MODE_NORMAL = 0	# Execute the mission according to the planned items
-uint8 MISSION_EXECUTION_MODE_REVERSE = 1	# Execute the mission in reverse order, ignoring commands and converting all waypoints to normal ones
-uint8 MISSION_EXECUTION_MODE_FAST_FORWARD = 2	# Execute the mission as fast as possible, for example converting loiter waypoints to normal ones
 
-uint32 instance_count		# Instance count of this mission. Increments monotonically whenever the mission is modified
+uint16 mission_update_counter   # Counter for the mission for which the result was generated
 
 int32 seq_reached		# Sequence of the mission item which has been reached, default -1
 uint16 seq_current		# Sequence of the current mission item

src/modules/commander/Commander.cpp

@@ -1935,19 +1935,19 @@ void Commander::checkForMissionUpdate()
 	if (_mission_result_sub.updated()) {
 		const mission_result_s &mission_result = _mission_result_sub.get();
 
-		const auto prev_mission_instance_count = mission_result.instance_count;
+		const auto prev_mission_mission_update_counter = mission_result.mission_update_counter;
 		_mission_result_sub.update();
 
 		// if mission_result is valid for the current mission
 		const bool mission_result_ok = (mission_result.timestamp > _boot_timestamp)
-					       && (mission_result.instance_count > 0);
+					       && (mission_result.mission_update_counter > 0);
 
 		bool auto_mission_available = mission_result_ok && mission_result.valid;
 
 		if (mission_result_ok) {
 			/* Only evaluate mission state if home is set */
 			if (!_failsafe_flags.home_position_invalid &&
-			    (prev_mission_instance_count != mission_result.instance_count)) {
+			    (prev_mission_mission_update_counter != mission_result.mission_update_counter)) {
 
 				if (!auto_mission_available) {
 					/* the mission is invalid */

src/modules/commander/HealthAndArmingChecks/checks/missionCheck.cpp

@@ -56,6 +56,6 @@ void MissionChecks::checkAndReport(const Context &context, Report &reporter)
 		}
 
 		// This is a mode requirement, no need to report
-		reporter.failsafeFlags().auto_mission_missing = mission_result.instance_count <= 0;
+		reporter.failsafeFlags().auto_mission_missing = mission_result.mission_update_counter <= 0;
 	}
 }

src/modules/navigator/mission_base.cpp

@@ -690,14 +690,14 @@ MissionBase::checkMissionRestart()
 void
 MissionBase::check_mission_valid()
 {
-	if (_navigator->get_mission_result()->instance_count != _mission.mission_update_counter) {
+	if (_navigator->get_mission_result()->mission_update_counter != _mission.mission_update_counter) {
 		MissionFeasibilityChecker missionFeasibilityChecker(_navigator, _dataman_client);
 
 		bool is_mission_valid =
 			missionFeasibilityChecker.checkMissionFeasible(_mission);
 
 		_navigator->get_mission_result()->valid = is_mission_valid;
-		_navigator->get_mission_result()->instance_count = _mission.mission_update_counter;
+		_navigator->get_mission_result()->mission_update_counter = _mission.mission_update_counter;
 		_navigator->get_mission_result()->seq_total = _mission.count;
 		_navigator->get_mission_result()->seq_reached = -1;
 		_navigator->get_mission_result()->failure = false;

src/modules/navigator/navigator.h

@@ -249,7 +249,7 @@ public:
 
 	orb_advert_t *get_mavlink_log_pub() { return &_mavlink_log_pub; }
 
-	int mission_instance_count() const { return _mission_result.instance_count; }
+	int mission_instance_count() const { return _mission_result.mission_update_counter; }
 
 	void set_mission_failure_heading_timeout();