Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-31 18:47:21 +08:00
Code Issues Actions 19 Packages Projects Releases Wiki Activity

Fixed MAVLink mission transmission

Browse Source
This commit is contained in:
Lorenz Meier
2015-10-30 18:40:55 +01:00
parent 90798a7cb6
commit fe4c67a781
1 changed files with 10 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_mission.cpp
+10 -11
View File
@@ -422,7 +422,9 @@ MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
} else { } else {
_mavlink->send_statustext_critical("REJ. WP CMD: partner id mismatch"); _mavlink->send_statustext_critical("REJ. WP CMD: partner id mismatch");
if (_verbose) { warnx("WPM: MISSION_ACK ERROR: rejected, partner ID mismatch"); } if (_verbose) {
warnx("WPM: MISSION_ACK ERR: ID mismatch");
}
} }
} }
} }
@@ -473,13 +475,13 @@ MavlinkMissionManager::handle_mission_request_list(const mavlink_message_t *msg)
if (_state == MAVLINK_WPM_STATE_IDLE || _state == MAVLINK_WPM_STATE_SENDLIST) { if (_state == MAVLINK_WPM_STATE_IDLE || _state == MAVLINK_WPM_STATE_SENDLIST) {
_time_last_recv = hrt_absolute_time(); _time_last_recv = hrt_absolute_time();
if (_count > 0) { _state = MAVLINK_WPM_STATE_SENDLIST;
_state = MAVLINK_WPM_STATE_SENDLIST; _transfer_seq = 0;
_transfer_seq = 0; _transfer_count = _count;
_transfer_count = _count; _transfer_partner_sysid = msg->sysid;
_transfer_partner_sysid = msg->sysid; _transfer_partner_compid = msg->compid;
_transfer_partner_compid = msg->compid;
if (_count > 0) {
if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST OK, %u mission items to send", _transfer_count); } if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST OK, %u mission items to send", _transfer_count); }
} else { } else {
@@ -598,9 +600,8 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
/* alternate dataman ID anyway to let navigator know about changes */ /* alternate dataman ID anyway to let navigator know about changes */
update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0); update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0);
_mavlink->send_statustext_info("WPM: COUNT 0: CLEAR MISSION");
// TODO send ACK? send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED);
_transfer_in_progress = false; _transfer_in_progress = false;
return; return;
} }
@@ -712,8 +713,6 @@ MavlinkMissionManager::handle_mission_item(const mavlink_message_t *msg)
/* got all new mission items successfully */ /* got all new mission items successfully */
if (_verbose) { warnx("WPM: MISSION_ITEM got all %u items, current_seq=%u, changing state to MAVLINK_WPM_STATE_IDLE", _transfer_count, _transfer_current_seq); } if (_verbose) { warnx("WPM: MISSION_ITEM got all %u items, current_seq=%u, changing state to MAVLINK_WPM_STATE_IDLE", _transfer_count, _transfer_current_seq); }
_mavlink->send_statustext_info("WPM: Transfer complete.");
_state = MAVLINK_WPM_STATE_IDLE; _state = MAVLINK_WPM_STATE_IDLE;
if (update_active_mission(_transfer_dataman_id, _transfer_count, _transfer_current_seq) == OK) { if (update_active_mission(_transfer_dataman_id, _transfer_count, _transfer_current_seq) == OK) {