/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Author: @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file waypoints.c
* MAVLink waypoint protocol implementation (BSD-relicensed).
*/
#include <math.h>
#include <sys/prctl.h>
#include <unistd.h>
#include <stdio.h>
#include "mavlink_bridge_header.h"
#include "waypoints.h"
#include "util.h"
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
#include <geo/geo.h>
#include <dataman/dataman.h>
#include <drivers/drv_hrt.h>
#include <systemlib/err.h>
bool verbose = true;
orb_advert_t mission_pub = -1;
struct mission_s mission;
uint8_t mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER;
void
mavlink_missionlib_send_message(mavlink_message_t *msg)
{
uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg);
mavlink_send_uart_bytes(chan, missionlib_msg_buf, len);
}
int
mavlink_missionlib_send_gcs_string(const char *string)
{
const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN;
mavlink_statustext_t statustext;
int i = 0;
while (i < len - 1) {
statustext.text[i] = string[i];
if (string[i] == '\0')
break;
i++;
}
if (i > 1) {
/* Enforce null termination */
statustext.text[i] = '\0';
mavlink_message_t msg;
mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &statustext);
mavlink_missionlib_send_message(&msg);
return OK;
} else {
return 1;
}
}
void publish_mission()
{
/* Initialize mission publication if necessary */
if (mission_pub < 0) {
mission_pub = orb_advertise(ORB_ID(mission), &mission);
} else {
orb_publish(ORB_ID(mission), mission_pub, &mission);
}
}
int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item)
{
/* only support global waypoints for now */
switch (mavlink_mission_item->frame) {
case MAV_FRAME_GLOBAL:
mission_item->lat = (double)mavlink_mission_item->x;
mission_item->lon = (double)mavlink_mission_item->y;
mission_item->altitude = mavlink_mission_item->z;
mission_item->altitude_is_relative = false;
break;
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
mission_item->lat = (double)mavlink_mission_item->x;
mission_item->lon = (double)mavlink_mission_item->y;
mission_item->altitude = mavlink_mission_item->z;
mission_item->altitude_is_relative = true;
break;
case MAV_FRAME_LOCAL_NED:
case MAV_FRAME_LOCAL_ENU:
return MAV_MISSION_UNSUPPORTED_FRAME;
case MAV_FRAME_MISSION:
default:
return MAV_MISSION_ERROR;
}
switch (mavlink_mission_item->command) {
case MAV_CMD_NAV_TAKEOFF:
mission_item->pitch_min = mavlink_mission_item->param2;
break;
default:
mission_item->acceptance_radius = mavlink_mission_item->param2;
break;
}
mission_item->yaw = _wrap_pi(mavlink_mission_item->param4*M_DEG_TO_RAD_F);
mission_item->loiter_radius = fabsf(mavlink_mission_item->param3);
mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */
mission_item->nav_cmd = mavlink_mission_item->command;
mission_item->time_inside = mavlink_mission_item->param1;
mission_item->autocontinue = mavlink_mission_item->autocontinue;
// mission_item->index = mavlink_mission_item->seq;
mission_item->origin = ORIGIN_MAVLINK;
return OK;
}
int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item)
{
if (mission_item->altitude_is_relative) {
mavlink_mission_item->frame = MAV_FRAME_GLOBAL;
} else {
mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
}
switch (mission_item->nav_cmd) {
case NAV_CMD_TAKEOFF:
mavlink_mission_item->param2 = mission_item->pitch_min;
break;
default:
mavlink_mission_item->param2 = mission_item->acceptance_radius;
break;
}
mavlink_mission_item->x = (float)mission_item->lat;
mavlink_mission_item->y = (float)mission_item->lon;
mavlink_mission_item->z = mission_item->altitude;
mavlink_mission_item->param4 = mission_item->yaw*M_RAD_TO_DEG_F;
mavlink_mission_item->param3 = mission_item->loiter_radius*(float)mission_item->loiter_direction;
mavlink_mission_item->command = mission_item->nav_cmd;
mavlink_mission_item->param1 = mission_item->time_inside;
mavlink_mission_item->autocontinue = mission_item->autocontinue;
// mavlink_mission_item->seq = mission_item->index;
return OK;
}
void mavlink_wpm_init(mavlink_wpm_storage *state)
{
state->size = 0;
state->max_size = MAVLINK_WPM_MAX_WP_COUNT;
state->current_state = MAVLINK_WPM_STATE_IDLE;
state->current_partner_sysid = 0;
state->current_partner_compid = 0;
state->timestamp_lastaction = 0;
state->timestamp_last_send_setpoint = 0;
state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT;
state->current_dataman_id = 0;
}
/*
* @brief Sends an waypoint ack message
*/
void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type)
{
mavlink_message_t msg;
mavlink_mission_ack_t wpa;
wpa.target_system = sysid;
wpa.target_component = compid;
wpa.type = type;
mavlink_msg_mission_ack_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpa);
mavlink_missionlib_send_message(&msg);
if (verbose) warnx("Sent waypoint ack (%u) to ID %u", wpa.type, wpa.target_system);
}
/*
* @brief Broadcasts the new target waypoint and directs the MAV to fly there
*
* This function broadcasts its new active waypoint sequence number and
* sends a message to the controller, advising it to fly to the coordinates
* of the waypoint with a given orientation
*
* @param seq The waypoint sequence number the MAV should fly to.
*/
void mavlink_wpm_send_waypoint_current(uint16_t seq)
{
if (seq < wpm->size) {
mavlink_message_t msg;
mavlink_mission_current_t wpc;
wpc.seq = seq;
mavlink_msg_mission_current_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc);
mavlink_missionlib_send_message(&msg);
if (verbose) warnx("Broadcasted new current waypoint %u", wpc.seq);
} else {
mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds");
if (verbose) warnx("ERROR: index out of bounds");
}
}
void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count)
{
mavlink_message_t msg;
mavlink_mission_count_t wpc;
wpc.target_system = sysid;
wpc.target_component = compid;
wpc.count = mission.count;
mavlink_msg_mission_count_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc);
mavlink_missionlib_send_message(&msg);
if (verbose) warnx("Sent waypoint count (%u) to ID %u", wpc.count, wpc.target_system);
}
void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq)
{
struct mission_item_s mission_item;
ssize_t len = sizeof(struct mission_item_s);
dm_item_t dm_current;
if (wpm->current_dataman_id == 0) {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
} else {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
}
if (dm_read(dm_current, seq, &mission_item, len) == len) {
/* create mission_item_s from mavlink_mission_item_t */
mavlink_mission_item_t wp;
map_mission_item_to_mavlink_mission_item(&mission_item, &wp);
mavlink_message_t msg;
wp.target_system = sysid;
wp.target_component = compid;
wp.seq = seq;
mavlink_msg_mission_item_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp);
mavlink_missionlib_send_message(&msg);
if (verbose) warnx("Sent waypoint %u to ID %u", wp.seq, wp.target_system);
} else {
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR);
if (verbose) warnx("ERROR: could not read WP%u", seq);
}
}
void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq)
{
if (seq < wpm->max_size) {
mavlink_message_t msg;
mavlink_mission_request_t wpr;
wpr.target_system = sysid;
wpr.target_component = compid;
wpr.seq = seq;
mavlink_msg_mission_request_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpr);
mavlink_missionlib_send_message(&msg);
if (verbose) warnx("Sent waypoint request %u to ID %u", wpr.seq, wpr.target_system);
} else {
mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity");
if (verbose) warnx("ERROR: Waypoint index exceeds list capacity");
}
}
/*
* @brief emits a message that a waypoint reached
*
* This function broadcasts a message that a waypoint is reached.
*
* @param seq The waypoint sequence number the MAV has reached.
*/
void mavlink_wpm_send_waypoint_reached(uint16_t seq)
{
mavlink_message_t msg;
mavlink_mission_item_reached_t wp_reached;
wp_reached.seq = seq;
mavlink_msg_mission_item_reached_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp_reached);
mavlink_missionlib_send_message(&msg);
if (verbose) warnx("Sent waypoint %u reached message", wp_reached.seq);
}
void mavlink_waypoint_eventloop(uint64_t now)
{
/* check for timed-out operations */
if (now - wpm->timestamp_lastaction > wpm->timeout && wpm->current_state != MAVLINK_WPM_STATE_IDLE) {
mavlink_missionlib_send_gcs_string("Operation timeout");
if (verbose) warnx("Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", wpm->current_state);
wpm->current_state = MAVLINK_WPM_STATE_IDLE;
wpm->current_partner_sysid = 0;
wpm->current_partner_compid = 0;
}
}
void mavlink_wpm_message_handler(const mavlink_message_t *msg)
{
uint64_t now = hrt_absolute_time();
switch (msg->msgid) {
case MAVLINK_MSG_ID_MISSION_ACK: {
mavlink_mission_ack_t wpa;
mavlink_msg_mission_ack_decode(msg, &wpa);
if ((msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/)) {
wpm->timestamp_lastaction = now;
if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) {
if (wpm->current_wp_id == wpm->size - 1) {
wpm->current_state = MAVLINK_WPM_STATE_IDLE;
wpm->current_wp_id = 0;
}
}
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: curr partner id mismatch");
if (verbose) warnx("REJ. WP CMD: curr partner id mismatch");
}
break;
}
case MAVLINK_MSG_ID_MISSION_SET_CURRENT: {
mavlink_mission_set_current_t wpc;
mavlink_msg_mission_set_current_decode(msg, &wpc);
if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) {
wpm->timestamp_lastaction = now;
if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) {
if (wpc.seq < wpm->size) {
mission.current_index = wpc.seq;
publish_mission();
mavlink_wpm_send_waypoint_current(wpc.seq);
} else {
mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list");
if (verbose) warnx("IGN WP CURR CMD: Not in list");
}
} else {
mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy");
if (verbose) warnx("IGN WP CURR CMD: Busy");
}
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch");
if (verbose) warnx("REJ. WP CMD: target id mismatch");
}
break;
}
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: {
mavlink_mission_request_list_t wprl;
mavlink_msg_mission_request_list_decode(msg, &wprl);
if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) {
wpm->timestamp_lastaction = now;
if (wpm->current_state == MAVLINK_WPM_STATE_IDLE || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) {
if (wpm->size > 0) {
wpm->current_state = MAVLINK_WPM_STATE_SENDLIST;
wpm->current_wp_id = 0;
wpm->current_partner_sysid = msg->sysid;
wpm->current_partner_compid = msg->compid;
} else {
if (verbose) warnx("No waypoints send");
}
wpm->current_count = wpm->size;
mavlink_wpm_send_waypoint_count(msg->sysid, msg->compid, wpm->current_count);
} else {
mavlink_missionlib_send_gcs_string("IGN REQUEST LIST: Busy");
if (verbose) warnx("IGN REQUEST LIST: Busy");
}
} else {
mavlink_missionlib_send_gcs_string("REJ. REQUEST LIST: target id mismatch");
if (verbose) warnx("REJ. REQUEST LIST: target id mismatch");
}
break;
}
case MAVLINK_MSG_ID_MISSION_REQUEST: {
mavlink_mission_request_t wpr;
mavlink_msg_mission_request_decode(msg, &wpr);
if (msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid && wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) {
wpm->timestamp_lastaction = now;
if (wpr.seq >= wpm->size) {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list");
if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.", wpr.seq);
break;
}
/*
* Ensure that we are in the correct state and that the first request has id 0
* and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint)
*/
if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) {
if (wpr.seq == 0) {
if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid);
wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS;
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0");
if (verbose) warnx("REJ. WP CMD: First id != 0");
break;
}
} else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) {
if (wpr.seq == wpm->current_wp_id) {
if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid);
} else if (wpr.seq == wpm->current_wp_id + 1) {
if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid);
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected");
if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).", wpr.seq, wpm->current_wp_id, wpm->current_wp_id + 1);
break;
}
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).", wpm->current_state);
break;
}
wpm->current_wp_id = wpr.seq;
wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS;
if (wpr.seq < wpm->size) {
mavlink_wpm_send_waypoint(wpm->current_partner_sysid, wpm->current_partner_compid,wpm->current_wp_id);
} else {
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR);
if (verbose) warnx("ERROR: Waypoint %u out of bounds", wpr.seq);
}
} else {
//we we're target but already communicating with someone else
if ((wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid)) {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.", msg->sysid, wpm->current_partner_sysid);
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch");
if (verbose) warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH");
}
}
break;
}
case MAVLINK_MSG_ID_MISSION_COUNT: {
mavlink_mission_count_t wpc;
mavlink_msg_mission_count_decode(msg, &wpc);
if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) {
wpm->timestamp_lastaction = now;
if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) {
if (wpc.count > NUM_MISSIONS_SUPPORTED) {
if (verbose) warnx("Too many waypoints: %d, supported: %d", wpc.count, NUM_MISSIONS_SUPPORTED);
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_NO_SPACE);
break;
}
if (wpc.count == 0) {
mavlink_missionlib_send_gcs_string("COUNT 0");
if (verbose) warnx("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE");
break;
}
if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid);
wpm->current_state = MAVLINK_WPM_STATE_GETLIST;
wpm->current_wp_id = 0;
wpm->current_partner_sysid = msg->sysid;
wpm->current_partner_compid = msg->compid;
wpm->current_count = wpc.count;
mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id);
} else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) {
if (wpm->current_wp_id == 0) {
mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN");
if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u", wpc.count, msg->sysid);
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.", wpm->current_wp_id);
}
} else {
mavlink_missionlib_send_gcs_string("IGN MISSION_COUNT CMD: Busy");
if (verbose) warnx("IGN MISSION_COUNT CMD: Busy");
}
} else {
mavlink_missionlib_send_gcs_string("REJ. WP COUNT CMD: target id mismatch");
if (verbose) warnx("IGNORED WAYPOINT COUNT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH");
}
}
break;
case MAVLINK_MSG_ID_MISSION_ITEM: {
mavlink_mission_item_t wp;
mavlink_msg_mission_item_decode(msg, &wp);
if (wp.target_system == mavlink_system.sysid && wp.target_component == mavlink_wpm_comp_id) {
wpm->timestamp_lastaction = now;
/*
* ensure that we are in the correct state and that the first waypoint has id 0
* and the following waypoints have the correct ids
*/
if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) {
if (wp.seq != 0) {
mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP not 0");
warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.", wp.seq);
break;
}
} else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
if (wp.seq >= wpm->current_count) {
mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP out of bounds");
warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.", wp.seq);
break;
}
if (wp.seq != wpm->current_wp_id) {
warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.", wp.seq, wpm->current_wp_id);
mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id);
break;
}
}
wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS;
struct mission_item_s mission_item;
int ret = map_mavlink_mission_item_to_mission_item(&wp, &mission_item);
if (ret != OK) {
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, ret);
wpm->current_state = MAVLINK_WPM_STATE_IDLE;
break;
}
ssize_t len = sizeof(struct mission_item_s);
dm_item_t dm_next;
if (wpm->current_dataman_id == 0) {
dm_next = DM_KEY_WAYPOINTS_OFFBOARD_1;
mission.dataman_id = 1;
} else {
dm_next = DM_KEY_WAYPOINTS_OFFBOARD_0;
mission.dataman_id = 0;
}
if (dm_write(dm_next, wp.seq, DM_PERSIST_IN_FLIGHT_RESET, &mission_item, len) != len) {
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR);
wpm->current_state = MAVLINK_WPM_STATE_IDLE;
break;
}
if (wp.current) {
mission.current_index = wp.seq;
}
wpm->current_wp_id = wp.seq + 1;
if (wpm->current_wp_id == wpm->current_count && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
if (verbose) warnx("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE", wpm->current_count);
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ACCEPTED);
mission.count = wpm->current_count;
publish_mission();
wpm->current_dataman_id = mission.dataman_id;
wpm->size = wpm->current_count;
wpm->current_state = MAVLINK_WPM_STATE_IDLE;
} else {
mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id);
}
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch");
if (verbose) warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH");
}
break;
}
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: {
mavlink_mission_clear_all_t wpca;
mavlink_msg_mission_clear_all_decode(msg, &wpca);
if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */) {
if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) {
wpm->timestamp_lastaction = now;
wpm->size = 0;
/* prepare mission topic */
mission.dataman_id = -1;
mission.count = 0;
mission.current_index = -1;
publish_mission();
if (dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_0) == OK && dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_1) == OK) {
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ACCEPTED);
} else {
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR);
}
} else {
mavlink_missionlib_send_gcs_string("IGN WP CLEAR CMD: Busy");
if (verbose) warnx("IGN WP CLEAR CMD: Busy");
}
} else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm->current_state != MAVLINK_WPM_STATE_IDLE) {
mavlink_missionlib_send_gcs_string("REJ. WP CLERR CMD: target id mismatch");
if (verbose) warnx("IGNORED WAYPOINT CLEAR COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH");
}
break;
}
default: {
/* other messages might should get caught by mavlink and others */
break;
}
}
}