mavlink: mission manager moved to separate class and reworked

9 files changed, 1075 insertions, 962 deletions

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 126c4dfc6..f8a31a4ad 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -102,6 +102,8 @@ static struct file_operations fops;
  */
 extern "C" __EXPORT int mavlink_main(int argc, char *argv[]);
 
+extern mavlink_system_t mavlink_system;
+
 static uint64_t last_write_success_times[6] = {0};
 static uint64_t last_write_try_times[6] = {0};
 
@@ -200,9 +202,6 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
 			last_write_success_times[(unsigned)channel] = last_write_try_times[(unsigned)channel];
 		}
 	}
-
-
-
 }
 
 static void usage(void);
@@ -221,6 +220,7 @@ Mavlink::Mavlink() :
 	_main_loop_delay(1000),
 	_subscriptions(nullptr),
 	_streams(nullptr),
+	_mission_result_sub(-1),
 	_mission_pub(-1),
 	_mode(MAVLINK_MODE_NORMAL),
 	_total_counter(0),
@@ -238,12 +238,11 @@ Mavlink::Mavlink() :
 	_param_component_id(0),
 	_param_system_type(0),
 	_param_use_hil_gps(0),
+	_mission_manager(nullptr),
 
 /* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "mavlink"))
 {
-	_wpm = &_wpm_s;
-
 	fops.ioctl = (int (*)(file *, int, long unsigned int))&mavlink_dev_ioctl;
 
 	_instance_id = Mavlink::instance_count();
@@ -421,7 +420,7 @@ Mavlink::instance_exists(const char *device_name, Mavlink *self)
 }
 
 void
-Mavlink::forward_message(mavlink_message_t *msg, Mavlink *self)
+Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
 {
 
 	Mavlink *inst;
@@ -497,7 +496,6 @@ Mavlink::mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg)
 
 void Mavlink::mavlink_update_system(void)
 {
-
 	if (!_param_initialized) {
 		_param_system_id = param_find("MAV_SYS_ID");
 		_param_component_id = param_find("MAV_COMP_ID");
@@ -701,9 +699,32 @@ Mavlink::set_hil_enabled(bool hil_enabled)
 	return ret;
 }
 
-extern mavlink_system_t mavlink_system;
+void
+Mavlink::send_message(const mavlink_message_t *msg)
+{
+	uint8_t buf[MAVLINK_MAX_PACKET_LEN];
 
-int Mavlink::mavlink_pm_queued_send()
+	uint16_t len = mavlink_msg_to_send_buffer(buf, msg);
+	mavlink_send_uart_bytes(_channel, buf, len);
+}
+
+void
+Mavlink::handle_message(const mavlink_message_t *msg)
+{
+	/* handle packet with mission manager */
+	_mission_manager->handle_message(msg);
+
+	/* handle packet with parameter component */
+	mavlink_pm_message_handler(_channel, msg);
+
+	if (get_forwarding_on()) {
+		/* forward any messages to other mavlink instances */
+		Mavlink::forward_message(msg, this);
+	}
+}
+
+int
+Mavlink::mavlink_pm_queued_send()
 {
 	if (_mavlink_param_queue_index < param_count()) {
 		mavlink_pm_send_param(param_for_index(_mavlink_param_queue_index));
@@ -780,7 +801,7 @@ int Mavlink::mavlink_pm_send_param(param_t param)
 					  mavlink_type,
 					  param_count(),
 					  param_get_index(param));
-	mavlink_missionlib_send_message(&tx_msg);
+	send_message(&tx_msg);
 	return OK;
 }
 
@@ -794,7 +815,7 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav
 					(req.target_component == mavlink_system.compid || req.target_component == MAV_COMP_ID_ALL)) {
 				/* Start sending parameters */
 				mavlink_pm_start_queued_send();
-				mavlink_missionlib_send_gcs_string("[mavlink pm] sending list");
+				send_statustext("[mavlink pm] sending list");
 			}
 		} break;
 
@@ -818,7 +839,7 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav
 					if (param == PARAM_INVALID) {
 						char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
 						sprintf(buf, "[pm] unknown: %s", name);
-						mavlink_missionlib_send_gcs_string(buf);
+						send_statustext(buf);
 
 					} else {
 						/* set and send parameter */
@@ -854,677 +875,18 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav
 	}
 }
 
-void Mavlink::publish_mission()
-{
-	/* Initialize mission publication if necessary */
-	if (_mission_pub < 0) {
-		_mission_pub = orb_advertise(ORB_ID(offboard_mission), &_mission);
-
-	} else {
-		orb_publish(ORB_ID(offboard_mission), _mission_pub, &_mission);
-	}
-}
-
-int Mavlink::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->param1;
-		break;
-	case MAV_CMD_DO_JUMP:
-		mission_item->do_jump_mission_index = mavlink_mission_item->param1;
-		mission_item->do_jump_repeat_count = mavlink_mission_item->param2;
-		break;
-	default:
-		mission_item->acceptance_radius = mavlink_mission_item->param2;
-		mission_item->time_inside = mavlink_mission_item->param1;
-		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 = (NAV_CMD)mavlink_mission_item->command;
-
-	mission_item->autocontinue = mavlink_mission_item->autocontinue;
-	// mission_item->index = mavlink_mission_item->seq;
-	mission_item->origin = ORIGIN_MAVLINK;
-
-	/* reset DO_JUMP count */
-	mission_item->do_jump_current_count = 0;
-
-	return OK;
-}
-
-int Mavlink::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->param1 = mission_item->pitch_min;
-		break;
-
-	case NAV_CMD_DO_JUMP:
-		mavlink_mission_item->param1 = mission_item->do_jump_mission_index;
-		mavlink_mission_item->param2 = mission_item->do_jump_repeat_count;
-		break;
-
-	default:
-		mavlink_mission_item->param2 = mission_item->acceptance_radius;
-		mavlink_mission_item->param1 = mission_item->time_inside;
-		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->autocontinue = mission_item->autocontinue;
-	// mavlink_mission_item->seq = mission_item->index;
-
-	return OK;
-}
-
-void Mavlink::mavlink_wpm_init(mavlink_wpm_storage *state)
-{
-	/* get offboard_mission topic */
-	int mission_sub = orb_subscribe(ORB_ID(offboard_mission));
-	if (orb_copy(ORB_ID(offboard_mission), mission_sub, &_mission)) {
-		/* error getting topic, init to safe values */
-		_mission.dataman_id = 0;
-		_mission.count = 0;
-		_mission.current_index = -1;
-	}
-	close(mission_sub);
-
-	/* init WPM state */
-	state->size = _mission.count;
-	state->max_size = MAVLINK_WPM_MAX_WP_COUNT;
-	state->dataman_id = _mission.dataman_id;
-	state->current_state = MAVLINK_WPM_STATE_IDLE;
-	state->current_partner_sysid = 0;
-	state->current_partner_compid = 0;
-	state->current_dataman_id = 0;
-	state->timestamp_lastaction = 0;
-	state->timestamp_last_send_setpoint = 0;
-	state->timestamp_last_send_request = 0;
-	state->action_timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT;
-	state->retry_timeout = MAVLINK_WPM_RETRY_TIMEOUT_DEFAULT;
-
-	warnx("wpm init: dataman_id=%d, count=%u, current=%d", state->dataman_id, state->size, _mission.current_index);
-}
-
-/*
- *  @brief Sends an waypoint ack message
- */
-void Mavlink::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_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpa);
-	mavlink_missionlib_send_message(&msg);
-
-	if (_verbose) { warnx("WPM: Send MISSION_ACK type %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::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_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpc);
-		mavlink_missionlib_send_message(&msg);
-
-	} else if (seq == 0 && _wpm->size == 0) {
-		/* don't broadcast if no WPs */
-
-	} else {
-		if (_verbose) { warnx("WPM: Send WAYPOINT_CURRENT ERROR: seq %u out of bounds", seq); }
-
-		mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds");
-	}
-}
-
-void Mavlink::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 = _wpm->size;
-
-	mavlink_msg_mission_count_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpc);
-	mavlink_missionlib_send_message(&msg);
-
-	if (_verbose) { warnx("WPM: Send WAYPOINT_COUNT %u to ID %u", wpc.count, wpc.target_system); }
-}
-
-void Mavlink::mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq)
-{
-	dm_item_t dm_item = _wpm->dataman_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1;
-	struct mission_item_s mission_item;
-
-	if (dm_read(dm_item, seq, &mission_item, sizeof(struct mission_item_s)) == sizeof(struct mission_item_s)) {
-
-		/* 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;
-		wp.current = (_mission_result.index_current_mission == seq) ? 1 : 0;
-		mavlink_msg_mission_item_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wp);
-		mavlink_missionlib_send_message(&msg);
-
-		if (_verbose) { warnx("WPM: Send WAYPOINT seq %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);
-		mavlink_missionlib_send_gcs_string("#audio: Unable to read from micro SD");
-
-		if (_verbose) { warnx("WPM: Send WAYPOINT ERROR: could not read seq %u from dataman ID %i", seq, _wpm->dataman_id); }
-	}
-}
-
-void Mavlink::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_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpr);
-		mavlink_missionlib_send_message(&msg);
-		_wpm->timestamp_last_send_request = hrt_absolute_time();
-
-		if (_verbose) { warnx("WPM: Send WAYPOINT_REQUEST seq %u to ID %u", wpr.seq, wpr.target_system); }
-
-	} else {
-		mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity");
-
-		if (_verbose) { warnx("WPM: Send WAYPINT_REQUEST ERROR: seq %u exceeds list capacity", seq); }
-	}
-}
-
-/*
- *  @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::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_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wp_reached);
-	mavlink_missionlib_send_message(&msg);
-
-	if (_verbose) { warnx("WPM: Send WAYPOINT_REACHED seq %u", wp_reached.seq); }
-}
-
-void Mavlink::mavlink_waypoint_eventloop(uint64_t now)
-{
-	/* check for timed-out operations */
-	if (now - _wpm->timestamp_lastaction > _wpm->action_timeout && _wpm->current_state != MAVLINK_WPM_STATE_IDLE) {
-
-		mavlink_missionlib_send_gcs_string("Operation timeout");
-
-		if (_verbose) { warnx("WPM: 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;
-
-	} else if (now - _wpm->timestamp_last_send_request > _wpm->retry_timeout && _wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
-		/* try to get WP again after short timeout */
-		mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id);
-	}
-}
-
-
-void Mavlink::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 (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/) {
-				if ((msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid)) {
-					_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) {
-							if (_verbose) { warnx("WPM: MISSION_ACK all items sent, switch to MAVLINK_WPM_STATE_IDLE"); }
-
-							_wpm->current_state = MAVLINK_WPM_STATE_IDLE;
-							_wpm->current_wp_id = 0;
-						}
-					}
-
-				} else {
-					mavlink_missionlib_send_gcs_string("REJ. WP CMD: partner id mismatch");
-
-					if (_verbose) { warnx("WPM: MISSION_ACK ERROR: rejected, 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) {
-						if (_verbose) { warnx("WPM: MISSION_SET_CURRENT OK (%d)", wpc.seq); }
-
-						_mission.current_index = wpc.seq;
-						publish_mission();
-
-					} else {
-						if (_verbose) { warnx("WPM: MISSION_SET_CURRENT ERROR: not in list (%d)", wpc.seq); }
-
-						mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list");
-					}
-
-				} else {
-					if (_verbose) { warnx("WPM: MISSION_SET_CURRENT ERROR: busy"); }
-
-					mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy");
-				}
-			}
-
-			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("WPM: MISSION_REQUEST_LIST nothing to send, mission is empty"); }
-					}
-
-					_wpm->current_count = _wpm->size;
-					mavlink_wpm_send_waypoint_count(msg->sysid, msg->compid, _wpm->current_count);
-
-				} else {
-					if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST ERROR: busy"); }
-
-					mavlink_missionlib_send_gcs_string("IGN REQUEST LIST: Busy");
-				}
-			}
-
-			break;
-		}
-
-	case MAVLINK_MSG_ID_MISSION_REQUEST: {
-			mavlink_mission_request_t wpr;
-			mavlink_msg_mission_request_decode(msg, &wpr);
-
-			if (wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) {
-				if (msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid) {
-					_wpm->timestamp_lastaction = now;
-
-					if (wpr.seq >= _wpm->size) {
-						if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: ignored, requested seq %u was out of bounds [0 %d]", wpr.seq, _wpm->size - 1); }
-
-						mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list");
-						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("WPM: MISSION_ITEM_REQUEST seq %u from ID %u, changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); }
-
-							_wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS;
-
-						} else {
-							if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: first id != 0 (%d)", wpr.seq); }
-
-							mavlink_missionlib_send_gcs_string("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("WPM: MISSION_ITEM_REQUEST seq %u (again) from ID %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("WPM: MISSION_ITEM_REQUEST seq %u from ID %u, staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); }
-
-						} else {
-							if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u from ID %u unexpected, should be %i or %i", wpr.seq, msg->sysid, _wpm->current_wp_id, _wpm->current_wp_id + 1); }
-
-							mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected");
-							break;
-						}
-
-					} else {
-						if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: busy (state %d).", _wpm->current_state); }
-
-						mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
-						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 {
-						if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u out of bounds", wpr.seq); }
-
-						mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR);
-					}
-
-				} else {
-					mavlink_missionlib_send_gcs_string("REJ. WP CMD: partner id mismatch");
-
-					if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: rejected, 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("WPM: MISSION_COUNT ERROR: 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) {
-						if (_verbose) { warnx("WPM: MISSION_COUNT 0, clearing waypoints list and staying in state MAVLINK_WPM_STATE_IDLE"); }
-
-						mavlink_missionlib_send_gcs_string("WP COUNT 0: CLEAR MISSION");
-						break;
-					}
-
-					if (_verbose) { warnx("WPM: MISSION_COUNT %u from ID %u, changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); }
-
-				} else if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST) {
-
-					if (_wpm->current_wp_id == 0) {
-						/* looks like our WAYPOINT_REQUEST was lost, try again */
-						if (_verbose) { warnx("WPM: MISSION_COUNT %u (again) from ID %u", wpc.count, msg->sysid); }
-
-						mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN");
-
-					} else {
-						if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: busy, already receiving seq %u", _wpm->current_wp_id); }
-
-						mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
-						break;
-					}
-
-				} else {
-					if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: busy, state %i", _wpm->current_state); }
-
-					mavlink_missionlib_send_gcs_string("IGN MISSION_COUNT CMD: Busy");
-					break;
-				}
-
-				_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;
-				_wpm->current_dataman_id = _wpm->dataman_id == 0 ? 1 : 0;	// use inactive storage for transmission
-
-				_mission.current_index = -1;
-
-				mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id);
-			}
-		}
-		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) {
-						if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: first item seq != 0 (%d)", wp.seq); }
-						break;
-					}
-
-				} else if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
-					if (wp.seq >= _wpm->current_count) {
-						if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: first item seq %d out of bounds [0 %d]", wp.seq, _wpm->current_count - 1); }
-
-						mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP out of bounds");
-						break;
-					}
-
-					if (wp.seq != _wpm->current_wp_id) {
-						if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %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) {
-					if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u invalid item", wp.seq); }
-
-					mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, ret);
-					_wpm->current_state = MAVLINK_WPM_STATE_IDLE;
-					break;
-				}
-
-				dm_item_t dm_item = _wpm->current_dataman_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1;
-
-				if (dm_write(dm_item, wp.seq, DM_PERSIST_POWER_ON_RESET, &mission_item, sizeof(struct mission_item_s)) != sizeof(struct mission_item_s)) {
-					if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: error writing seq %u to dataman ID %i", wp.seq, _wpm->current_dataman_id); }
-
-					mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR);
-					mavlink_missionlib_send_gcs_string("#audio: Unable to write on micro SD");
-					_wpm->current_state = MAVLINK_WPM_STATE_IDLE;
-					break;
-				}
-
-				/* waypoint marked as current */
-				if (wp.current) {
-					_mission.current_index = wp.seq;
-				}
-
-				if (_verbose) { warnx("WPM: MISSION_ITEM seq %u received", 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) {
-					/* got all new mission items successfully */
-					if (_verbose) { warnx("WPM: MISSION_ITEM got all %u items, changing state to MAVLINK_WPM_STATE_IDLE", _wpm->current_count); }
-
-					_wpm->current_state = MAVLINK_WPM_STATE_IDLE;
-
-					mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ACCEPTED);
-
-					/* update WPM state */
-					_wpm->dataman_id = _wpm->current_dataman_id;
-					_wpm->size = _wpm->current_count;
-
-					/* update mission topic */
-					_mission.dataman_id = _wpm->dataman_id;
-					_mission.count = _wpm->current_count;
-
-					publish_mission();
-
-				} else {
-					/* request next item */
-					mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id);
-				}
-			}
-			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) {
-					/* clear only active dataman storage, don't change storage id */
-					dm_item_t dm_id = _wpm->dataman_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1;
-
-					if (dm_clear(dm_id) == OK) {
-						if (_verbose) { warnx("WPM: CLEAR_ALL OK"); }
-
-						mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ACCEPTED);
-
-						/* update WPM state */
-						_wpm->timestamp_lastaction = now;
-						_wpm->size = 0;
-
-						/* update mission topic */
-						_mission.dataman_id = _wpm->dataman_id;
-						_mission.count = 0;
-						_mission.current_index = -1;
-
-						publish_mission();
-
-					} else {
-						if (_verbose) { warnx("WPM: CLEAR_ALL ERROR: can't clear dataman mission storage"); }
-
-						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("WPM: CLEAR_ALL IGNORED: busy"); }
-				}
-			}
-
-			break;
-		}
-
-	default: {
-			/* other messages might should get caught by mavlink and others */
-			break;
-		}
-	}
-}
-
-void
-Mavlink::mavlink_missionlib_send_message(mavlink_message_t *msg)
+int
+Mavlink::send_statustext(const char *string)
 {
-	uint8_t buf[MAVLINK_MAX_PACKET_LEN];
-
-	uint16_t len = mavlink_msg_to_send_buffer(buf, msg);
-	mavlink_send_uart_bytes(_channel, buf, len);
+	return send_statustext(MAV_SEVERITY_INFO, string);
 }
 
-
 int
-Mavlink::mavlink_missionlib_send_gcs_string(const char *string)
+Mavlink::send_statustext(enum MAV_SEVERITY severity, const char *string)
 {
 	const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN;
 	mavlink_statustext_t statustext;
-	statustext.severity = MAV_SEVERITY_INFO;
+	statustext.severity = severity;
 
 	int i = 0;
 
@@ -1546,7 +908,7 @@ Mavlink::mavlink_missionlib_send_gcs_string(const char *string)
 		return OK;
 
 	} else {
-		return 1;
+		return ERROR;
 	}
 }
 
@@ -1684,7 +1046,7 @@ Mavlink::message_buffer_is_empty()
 
 
 bool
-Mavlink::message_buffer_write(void *ptr, int size)
+Mavlink::message_buffer_write(const void *ptr, int size)
 {
 	// bytes available to write
 	int available = _message_buffer.read_ptr - _message_buffer.write_ptr - 1;
@@ -1751,7 +1113,7 @@ Mavlink::message_buffer_mark_read(int n)
 }
 
 void
-Mavlink::pass_message(mavlink_message_t *msg)
+Mavlink::pass_message(const mavlink_message_t *msg)
 {
 	if (_passing_on) {
 		/* size is 8 bytes plus variable payload */
@@ -1762,6 +1124,11 @@ Mavlink::pass_message(mavlink_message_t *msg)
 	}
 }
 
+float
+Mavlink::get_rate_mult()
+{
+	return _datarate / 1000.0f;
+}
 
 int
 Mavlink::task_main(int argc, char *argv[])
@@ -1879,8 +1246,6 @@ Mavlink::task_main(int argc, char *argv[])
 		break;
 	}
 
-	_mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER;
-
 	warnx("data rate: %d Bytes/s, port: %s, baud: %d", _datarate, _device_name, _baudrate);
 
 	/* flush stdout in case MAVLink is about to take it over */
@@ -1922,11 +1287,11 @@ Mavlink::task_main(int argc, char *argv[])
 	/* start the MAVLink receiver */
 	_receive_thread = MavlinkReceiver::receive_start(this);
 
-	/* initialize waypoint manager */
-	mavlink_wpm_init(_wpm);
+	_mission_result_sub = orb_subscribe(ORB_ID(mission_result));
 
-	int mission_result_sub = orb_subscribe(ORB_ID(mission_result));
-	memset(&_mission_result, 0, sizeof(_mission_result));
+	/* create mission manager */
+	_mission_manager = new MavlinkMissionManager(this);
+	_mission_manager->set_verbose(_verbose);
 
 	_task_running = true;
 
@@ -1941,7 +1306,7 @@ Mavlink::task_main(int argc, char *argv[])
 	MavlinkCommandsStream commands_stream(this, _channel);
 
 	/* add default streams depending on mode and intervals depending on datarate */
-	float rate_mult = _datarate / 1000.0f;
+	float rate_mult = get_rate_mult();
 
 	configure_stream("HEARTBEAT", 1.0f);
 
@@ -1976,7 +1341,6 @@ Mavlink::task_main(int argc, char *argv[])
 	/* don't send parameters on startup without request */
 	_mavlink_param_queue_index = param_count();
 
-	MavlinkRateLimiter slow_rate_limiter(2000000.0f / rate_mult);
 	MavlinkRateLimiter fast_rate_limiter(30000.0f / rate_mult);
 
 	/* set main loop delay depending on data rate to minimize CPU overhead */
@@ -2030,36 +1394,16 @@ Mavlink::task_main(int argc, char *argv[])
 			stream->update(t);
 		}
 
-		bool updated;
-		orb_check(mission_result_sub, &updated);
-
-		if (updated) {
-			orb_copy(ORB_ID(mission_result), mission_result_sub, &_mission_result);
-
-			if (_verbose) { warnx("WPM: got mission result, new current: %d", _mission_result.index_current_mission); }
-
-			if (_mission_result.mission_reached) {
-				mavlink_wpm_send_waypoint_reached((uint16_t)_mission_result.mission_index_reached);
-			}
-
-			mavlink_wpm_send_waypoint_current((uint16_t)_mission_result.index_current_mission);
-
-		} else {
-			if (slow_rate_limiter.check(t)) {
-				mavlink_wpm_send_waypoint_current((uint16_t)_mission_result.index_current_mission);
-			}
-		}
-
 		if (fast_rate_limiter.check(t)) {
 			mavlink_pm_queued_send();
-			mavlink_waypoint_eventloop(hrt_absolute_time());
+			_mission_manager->eventloop();
 
 			if (!mavlink_logbuffer_is_empty(&_logbuffer)) {
 				struct mavlink_logmessage msg;
 				int lb_ret = mavlink_logbuffer_read(&_logbuffer, &msg);
 
 				if (lb_ret == OK) {
-					mavlink_missionlib_send_gcs_string(msg.text);
+					send_statustext(msg.text);
 				}
 			}
 		}
@@ -2093,11 +1437,11 @@ Mavlink::task_main(int argc, char *argv[])
 			}
 		}
 
-
-
 		perf_end(_loop_perf);
 	}
 
+	delete _mission_manager;
+
 	delete _subscribe_to_stream;
 	_subscribe_to_stream = nullptr;
 
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 5d7273abd..085a97d73 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -56,51 +56,7 @@
 #include "mavlink_orb_subscription.h"
 #include "mavlink_stream.h"
 #include "mavlink_messages.h"
-
-// FIXME XXX - TO BE MOVED TO XML
-enum MAVLINK_WPM_STATES {
-	MAVLINK_WPM_STATE_IDLE = 0,
-	MAVLINK_WPM_STATE_SENDLIST,
-	MAVLINK_WPM_STATE_SENDLIST_SENDWPS,
-	MAVLINK_WPM_STATE_GETLIST,
-	MAVLINK_WPM_STATE_GETLIST_GETWPS,
-	MAVLINK_WPM_STATE_GETLIST_GOTALL,
-	MAVLINK_WPM_STATE_ENUM_END
-};
-
-enum MAVLINK_WPM_CODES {
-	MAVLINK_WPM_CODE_OK = 0,
-	MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
-	MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
-	MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
-	MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
-	MAVLINK_WPM_CODE_ENUM_END
-};
-
-
-#define MAVLINK_WPM_MAX_WP_COUNT 255
-#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000    ///< Protocol communication action timeout in useconds
-#define MAVLINK_WPM_RETRY_TIMEOUT_DEFAULT 500000        ///< Protocol communication retry timeout in useconds
-#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000      ///< When to send a new setpoint
-#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000
-
-
-struct mavlink_wpm_storage {
-	uint16_t size;							///< Count of waypoints in active mission
-	uint16_t max_size;						///< Maximal count of waypoints
-	int dataman_id;							///< Dataman storage ID for active mission
-	enum MAVLINK_WPM_STATES current_state;	///< Current waypoint manager state
-	int16_t current_wp_id;					///< Waypoint ID in current transmission
-	uint16_t current_count;					///< Waypoints count in current transmission
-	uint8_t current_partner_sysid;
-	uint8_t current_partner_compid;
-	int current_dataman_id;					///< Dataman storage ID for current transmission
-	uint64_t timestamp_lastaction;
-	uint64_t timestamp_last_send_setpoint;
-	uint64_t timestamp_last_send_request;
-	uint32_t action_timeout;
-	uint32_t retry_timeout;
-};
+#include "mavlink_mission.h"
 
 
 class Mavlink
@@ -143,7 +99,7 @@ public:
 
 	static bool	instance_exists(const char *device_name, Mavlink *self);
 
-	static void	forward_message(mavlink_message_t *msg, Mavlink *self);
+	static void	forward_message(const mavlink_message_t *msg, Mavlink *self);
 
 	static int get_uart_fd(unsigned index);
 
@@ -168,10 +124,6 @@ public:
 
 	bool		get_forwarding_on() { return _forwarding_on; }
 
-	/**
-	 * Handle waypoint related messages.
-	 */
-	void mavlink_wpm_message_handler(const mavlink_message_t *msg);
 
 	static int start_helper(int argc, char *argv[]);
 
@@ -192,6 +144,10 @@ public:
 	 */
 	int		set_hil_enabled(bool hil_enabled);
 
+	void	send_message(const mavlink_message_t *msg);
+
+	void	handle_message(const mavlink_message_t *msg);
+
 	MavlinkOrbSubscription *add_orb_subscription(const orb_id_t topic);
 
 	int get_instance_id();
@@ -209,6 +165,10 @@ public:
 
 	int get_mavlink_fd() { return _mavlink_fd; }
 
+	int send_statustext(const char *string);
+	int send_statustext(enum MAV_SEVERITY severity, const char *string);
+
+	float get_rate_mult();
 
 	/* Functions for waiting to start transmission until message received. */
 	void set_has_received_messages(bool received_messages) { _received_messages = received_messages; }
@@ -238,12 +198,12 @@ private:
 	MavlinkOrbSubscription *_subscriptions;
 	MavlinkStream *_streams;
 
+	MavlinkMissionManager *_mission_manager;
+
 	orb_advert_t	_mission_pub;
-	struct mission_s _mission;
-	struct mission_result_s _mission_result;
+	int			_mission_result_sub;
 	MAVLINK_MODE _mode;
 
-	uint8_t _mavlink_wpm_comp_id;
 	mavlink_channel_t _channel;
 
 	struct mavlink_logbuffer _logbuffer;
@@ -251,10 +211,6 @@ private:
 
 	pthread_t _receive_thread;
 
-	/* Allocate storage space for waypoints */
-	mavlink_wpm_storage _wpm_s;
-	mavlink_wpm_storage *_wpm;
-
 	bool _verbose;
 	bool _forwarding_on;
 	bool _passing_on;
@@ -336,20 +292,9 @@ private:
 
 	void mavlink_update_system();
 
-	void mavlink_waypoint_eventloop(uint64_t now);
-	void mavlink_wpm_send_waypoint_reached(uint16_t seq);
-	void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq);
-	void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq);
-	void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count);
-	void mavlink_wpm_send_waypoint_current(uint16_t seq);
-	void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type);
-	void mavlink_wpm_init(mavlink_wpm_storage *state);
-	int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);
-	int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
-	void publish_mission();
-
-	void mavlink_missionlib_send_message(mavlink_message_t *msg);
-	int mavlink_missionlib_send_gcs_string(const char *string);
+	uint8_t get_system_id();
+
+	uint8_t get_component_id();
 
 	int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
 
@@ -364,13 +309,13 @@ private:
 
 	int message_buffer_is_empty();
 
-	bool message_buffer_write(void *ptr, int size);
+	bool message_buffer_write(const void *ptr, int size);
 
 	int message_buffer_get_ptr(void **ptr, bool *is_part);
 
 	void message_buffer_mark_read(int n);
 
-	void pass_message(mavlink_message_t *msg);
+	void pass_message(const mavlink_message_t *msg);
 
 	static int	mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg);
 
@@ -378,5 +323,4 @@ private:
 	 * Main mavlink task.
 	 */
 	int		task_main(int argc, char *argv[]);
-
 };
diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
new file mode 100644
index 000000000..1eab7d761
--- /dev/null
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -0,0 +1,823 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *
+ * 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 mavlink_mission.cpp
+ * MAVLink mission manager implementation.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#include "mavlink_mission.h"
+#include "mavlink_main.h"
+
+#include <math.h>
+#include <lib/geo/geo.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+
+#include <dataman/dataman.h>
+#include <uORB/topics/mission.h>
+#include <uORB/topics/mission_result.h>
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+
+MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) :
+	_mavlink(mavlink),
+	_channel(mavlink->get_channel()),
+	_comp_id(MAV_COMP_ID_MISSIONPLANNER),
+	_state(MAVLINK_WPM_STATE_IDLE),
+	_time_last_recv(0),
+	_time_last_sent(0),
+	_action_timeout(MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT),
+	_retry_timeout(MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT),
+	_max_count(DM_KEY_WAYPOINTS_OFFBOARD_0_MAX),
+	_count(0),
+	_current_seq(0),
+	_dataman_id(0),
+	_transfer_dataman_id(0),
+	_transfer_count(0),
+	_transfer_seq(0),
+	_transfer_current_seq(0),
+	_transfer_partner_sysid(0),
+	_transfer_partner_compid(0),
+	_offboard_mission_sub(-1),
+	_mission_result_sub(-1),
+	_offboard_mission_pub(-1),
+	_slow_rate_limiter(2000000.0f / mavlink->get_rate_mult()),
+	_verbose(false)
+{
+	_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
+	_mission_result_sub = orb_subscribe(ORB_ID(mission_result));
+
+	init_offboard_mission();
+}
+
+MavlinkMissionManager::~MavlinkMissionManager()
+{
+	close(_offboard_mission_pub);
+	close(_mission_result_sub);
+}
+
+void
+MavlinkMissionManager::init_offboard_mission()
+{
+	mission_s mission_state;
+	if (dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s)) == sizeof(mission_s)) {
+		_dataman_id = mission_state.dataman_id;
+		_count = mission_state.count;
+		_current_seq = mission_state.current_seq;
+
+		warnx("offboard mission init: dataman_id=%d, count=%u, current_seq=%d", _dataman_id, _count, _current_seq);
+
+	} else {
+		_dataman_id = 0;
+		_count = 0;
+		_current_seq = 0;
+		warnx("offboard mission init: ERROR, reading mission state failed");
+	}
+}
+
+/**
+ * Write new mission state to dataman and publish offboard_mission topic to notify navigator about changes.
+ */
+int
+MavlinkMissionManager::update_active_mission(int dataman_id, unsigned count, int seq)
+{
+	struct mission_s mission;
+
+	mission.dataman_id = dataman_id;
+	mission.count = count;
+	mission.current_seq = seq;
+
+	/* update mission state in dataman */
+	/* lock MISSION_STATE item */
+	dm_lock(DM_KEY_MISSION_STATE);
+
+	int res = dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission, sizeof(mission_s));
+
+	/* unlock MISSION_STATE item */
+	dm_unlock(DM_KEY_MISSION_STATE);
+
+	if (res == sizeof(mission_s)) {
+		/* update active mission state */
+		_dataman_id = dataman_id;
+		_count = count;
+		_current_seq = seq;
+
+		/* mission state saved successfully, publish offboard_mission topic */
+		if (_offboard_mission_pub < 0) {
+			_offboard_mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission);
+
+		} else {
+			orb_publish(ORB_ID(offboard_mission), _offboard_mission_pub, &mission);
+		}
+
+		return OK;
+
+	} else {
+		warnx("ERROR: can't save mission state");
+		_mavlink->send_statustext(MAV_SEVERITY_CRITICAL, "ERROR: can't save mission state");
+
+		return ERROR;
+	}
+}
+
+void
+MavlinkMissionManager::send_mission_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_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wpa);
+	_mavlink->send_message(&msg);
+
+	if (_verbose) { warnx("WPM: Send MISSION_ACK type %u to ID %u", wpa.type, wpa.target_system); }
+}
+
+
+void
+MavlinkMissionManager::send_mission_current(uint16_t seq)
+{
+	if (seq < _count) {
+		mavlink_message_t msg;
+		mavlink_mission_current_t wpc;
+
+		wpc.seq = seq;
+
+		mavlink_msg_mission_current_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wpc);
+		_mavlink->send_message(&msg);
+
+	} else if (seq == 0 && _count == 0) {
+		/* don't broadcast if no WPs */
+
+	} else {
+		if (_verbose) { warnx("WPM: Send MISSION_CURRENT ERROR: seq %u out of bounds", seq); }
+
+		_mavlink->send_statustext("ERROR: wp index out of bounds");
+	}
+}
+
+
+void
+MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count)
+{
+	_time_last_sent = hrt_absolute_time();
+
+	mavlink_message_t msg;
+	mavlink_mission_count_t wpc;
+
+	wpc.target_system = sysid;
+	wpc.target_component = compid;
+	wpc.count = _count;
+
+	mavlink_msg_mission_count_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wpc);
+	_mavlink->send_message(&msg);
+
+	if (_verbose) { warnx("WPM: Send MISSION_COUNT %u to ID %u", wpc.count, wpc.target_system); }
+}
+
+
+void
+MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq)
+{
+	dm_item_t dm_item = _dataman_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1;
+	struct mission_item_s mission_item;
+
+	if (dm_read(dm_item, seq, &mission_item, sizeof(struct mission_item_s)) == sizeof(struct mission_item_s)) {
+		_time_last_sent = hrt_absolute_time();
+
+		/* create mission_item_s from mavlink_mission_item_t */
+		mavlink_mission_item_t wp;
+		format_mavlink_mission_item(&mission_item, &wp);
+
+		mavlink_message_t msg;
+		wp.target_system = sysid;
+		wp.target_component = compid;
+		wp.seq = seq;
+		wp.current = (_current_seq == seq) ? 1 : 0;
+		mavlink_msg_mission_item_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wp);
+		_mavlink->send_message(&msg);
+
+		if (_verbose) { warnx("WPM: Send MISSION_ITEM seq %u to ID %u", wp.seq, wp.target_system); }
+
+	} else {
+		send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
+		_mavlink->send_statustext("#audio: Unable to read from micro SD");
+
+		if (_verbose) { warnx("WPM: Send MISSION_ITEM ERROR: could not read seq %u from dataman ID %i", seq, _dataman_id); }
+	}
+}
+
+
+void
+MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint16_t seq)
+{
+	if (seq < _max_count) {
+		_time_last_sent = hrt_absolute_time();
+
+		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_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wpr);
+		_mavlink->send_message(&msg);
+
+		if (_verbose) { warnx("WPM: Send MISSION_REQUEST seq %u to ID %u", wpr.seq, wpr.target_system); }
+
+	} else {
+		_mavlink->send_statustext("ERROR: Waypoint index exceeds list capacity");
+
+		if (_verbose) { warnx("WPM: Send MISSION_REQUEST ERROR: seq %u exceeds list capacity", seq); }
+	}
+}
+
+
+void
+MavlinkMissionManager::send_mission_item_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_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wp_reached);
+	_mavlink->send_message(&msg);
+
+	if (_verbose) { warnx("WPM: Send MISSION_ITEM_REACHED reached_seq %u", wp_reached.seq); }
+}
+
+
+void
+MavlinkMissionManager::eventloop()
+{
+	hrt_abstime now = hrt_absolute_time();
+
+	bool updated = false;
+	orb_check(_mission_result_sub, &updated);
+
+	if (updated) {
+		mission_result_s mission_result;
+		orb_copy(ORB_ID(mission_result), _mission_result_sub, &mission_result);
+
+		_current_seq = mission_result.seq_current;
+
+		if (_verbose) { warnx("WPM: got mission result, new current_seq: %d", _current_seq); }
+
+		if (mission_result.reached) {
+			send_mission_item_reached((uint16_t)mission_result.seq_reached);
+		}
+
+		send_mission_current(_current_seq);
+
+	} else {
+		if (_slow_rate_limiter.check(now)) {
+			send_mission_current(_current_seq);
+		}
+	}
+
+	/* check for timed-out operations */
+	if (_state != MAVLINK_WPM_STATE_IDLE && hrt_elapsed_time(&_time_last_recv) > _action_timeout) {
+		_mavlink->send_statustext("Operation timeout");
+
+		if (_verbose) { warnx("WPM: Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", _state); }
+
+		_state = MAVLINK_WPM_STATE_IDLE;
+
+	} else if (_state == MAVLINK_WPM_STATE_GETLIST && hrt_elapsed_time(&_time_last_sent) > _retry_timeout) {
+		/* try to request item again after timeout */
+		send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq);
+
+	} else if (_state == MAVLINK_WPM_STATE_SENDLIST && hrt_elapsed_time(&_time_last_sent) > _retry_timeout) {
+		if (_transfer_seq == 0) {
+			/* try to send items count again after timeout */
+			send_mission_count(_transfer_partner_sysid, _transfer_partner_compid, _transfer_count);
+
+		} else {
+			/* try to send item again after timeout */
+			send_mission_item(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq - 1);
+		}
+	}
+}
+
+
+void
+MavlinkMissionManager::handle_message(const mavlink_message_t *msg)
+{
+	switch (msg->msgid) {
+	case MAVLINK_MSG_ID_MISSION_ACK:
+		handle_mission_ack(msg);
+		break;
+
+	case MAVLINK_MSG_ID_MISSION_SET_CURRENT:
+		handle_mission_set_current(msg);
+		break;
+
+	case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
+		handle_mission_request_list(msg);
+		break;
+
+	case MAVLINK_MSG_ID_MISSION_REQUEST:
+		handle_mission_request(msg);
+		break;
+
+	case MAVLINK_MSG_ID_MISSION_COUNT:
+		handle_mission_count(msg);
+		break;
+
+	case MAVLINK_MSG_ID_MISSION_ITEM:
+		handle_mission_item(msg);
+		break;
+
+	case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
+		handle_mission_clear_all(msg);
+		break;
+
+	default:
+		break;
+	}
+}
+
+
+void
+MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
+{
+	mavlink_mission_ack_t wpa;
+	mavlink_msg_mission_ack_decode(msg, &wpa);
+
+	if (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/) {
+		if ((msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid)) {
+			if (_state == MAVLINK_WPM_STATE_SENDLIST) {
+				_time_last_recv = hrt_absolute_time();
+
+				if (_transfer_seq == _count) {
+					if (_verbose) { warnx("WPM: MISSION_ACK OK all items sent, switch to state IDLE"); }
+
+				} else {
+					if (_verbose) { warnx("WPM: MISSION_ACK ERROR: not all items sent, switch to state IDLE anyway"); }
+				}
+
+				_state = MAVLINK_WPM_STATE_IDLE;
+			}
+
+		} else {
+			_mavlink->send_statustext("REJ. WP CMD: partner id mismatch");
+
+			if (_verbose) { warnx("WPM: MISSION_ACK ERROR: rejected, partner ID mismatch"); }
+		}
+	}
+}
+
+
+void
+MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg)
+{
+	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*/) {
+		if (_state == MAVLINK_WPM_STATE_IDLE) {
+			_time_last_recv = hrt_absolute_time();
+
+			if (wpc.seq < _count) {
+				if (update_active_mission(_dataman_id, _count, wpc.seq) == OK) {
+					if (_verbose) { warnx("WPM: MISSION_SET_CURRENT seq=%d OK", wpc.seq); }
+
+				} else {
+					if (_verbose) { warnx("WPM: MISSION_SET_CURRENT seq=%d ERROR", wpc.seq); }
+				}
+
+			} else {
+				if (_verbose) { warnx("WPM: MISSION_SET_CURRENT seq=%d ERROR: not in list", wpc.seq); }
+
+				_mavlink->send_statustext("IGN WP CURR CMD: Not in list");
+			}
+
+		} else {
+			if (_verbose) { warnx("WPM: MISSION_SET_CURRENT ERROR: busy"); }
+
+			_mavlink->send_statustext("IGN WP CURR CMD: Busy");
+		}
+	}
+}
+
+
+void
+MavlinkMissionManager::handle_mission_request_list(const mavlink_message_t *msg)
+{
+	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*/) {
+		if (_state == MAVLINK_WPM_STATE_IDLE || _state == MAVLINK_WPM_STATE_SENDLIST) {
+			_time_last_recv = hrt_absolute_time();
+
+			if (_count > 0) {
+				_state = MAVLINK_WPM_STATE_SENDLIST;
+				_transfer_seq = 0;
+				_transfer_count = _count;
+				_transfer_partner_sysid = msg->sysid;
+				_transfer_partner_compid = msg->compid;
+
+				if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST OK, %u mission items to send", _transfer_count); }
+
+			} else {
+				if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST OK nothing to send, mission is empty"); }
+			}
+
+			send_mission_count(msg->sysid, msg->compid, _count);
+
+		} else {
+			if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST ERROR: busy"); }
+
+			_mavlink->send_statustext("IGN REQUEST LIST: Busy");
+		}
+	}
+}
+
+
+void
+MavlinkMissionManager::handle_mission_request(const mavlink_message_t *msg)
+{
+	mavlink_mission_request_t wpr;
+	mavlink_msg_mission_request_decode(msg, &wpr);
+
+	if (wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) {
+		if (msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid) {
+			if (_state == MAVLINK_WPM_STATE_SENDLIST) {
+				_time_last_recv = hrt_absolute_time();
+
+				/* _transfer_seq contains sequence of expected request */
+				if (wpr.seq == _transfer_seq && _transfer_seq < _transfer_count) {
+					if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST seq %u from ID %u", wpr.seq, msg->sysid); }
+
+					_transfer_seq++;
+
+				} else if (wpr.seq == _transfer_seq - 1 && wpr.seq >= 0) {
+					if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST seq %u from ID %u (again)", wpr.seq, msg->sysid); }
+
+				} else {
+					if (_transfer_seq > 0 && _transfer_seq < _transfer_count) {
+						if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u from ID %u unexpected, must be %i or %i", wpr.seq, msg->sysid, _transfer_seq - 1, _transfer_seq); }
+
+					} else if (_transfer_seq <= 0) {
+						if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid, _transfer_seq); }
+
+					} else {
+						if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid, _transfer_seq - 1); }
+					}
+
+					_state = MAVLINK_WPM_STATE_IDLE;
+
+					send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
+					_mavlink->send_statustext("REJ. WP CMD: Req. WP was unexpected");
+					return;
+				}
+
+				/* double check bounds in case of items count changed */
+				if (wpr.seq >= 0 && wpr.seq < _count) {
+					send_mission_item(_transfer_partner_sysid, _transfer_partner_compid, wpr.seq);
+
+				} else {
+					if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u out of bound [0, %u]", wpr.seq, msg->sysid, wpr.seq, _count - 1); }
+
+					_state = MAVLINK_WPM_STATE_IDLE;
+
+					send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
+					_mavlink->send_statustext("REJ. WP CMD: Req. WP was unexpected");
+				}
+
+			} else if (_state == MAVLINK_WPM_STATE_IDLE) {
+				if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: no transfer"); }
+
+				_mavlink->send_statustext("IGN MISSION_ITEM_REQUEST: No transfer");
+
+			} else {
+				if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: busy (state %d).", _state); }
+
+				_mavlink->send_statustext("REJ. WP CMD: Busy");
+			}
+
+		} else {
+			_mavlink->send_statustext("REJ. WP CMD: partner id mismatch");
+
+			if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: rejected, partner ID mismatch"); }
+		}
+	}
+}
+
+
+void
+MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
+{
+	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*/) {
+		if (_state == MAVLINK_WPM_STATE_IDLE) {
+			_time_last_recv = hrt_absolute_time();
+
+			if (wpc.count > _max_count) {
+				if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: too many waypoints (%d), supported: %d", wpc.count, _max_count); }
+
+				send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_NO_SPACE);
+				return;
+			}
+
+			if (wpc.count == 0) {
+				if (_verbose) { warnx("WPM: MISSION_COUNT 0, clearing waypoints list and staying in state MAVLINK_WPM_STATE_IDLE"); }
+
+				/* alternate dataman ID anyway to let navigator know about changes */
+				update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0);
+				_mavlink->send_statustext("WP COUNT 0: CLEAR MISSION");
+
+				// TODO send ACK?
+				return;
+			}
+
+			if (_verbose) { warnx("WPM: MISSION_COUNT %u from ID %u, changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); }
+
+			_state = MAVLINK_WPM_STATE_GETLIST;
+			_transfer_seq = 0;
+			_transfer_partner_sysid = msg->sysid;
+			_transfer_partner_compid = msg->compid;
+			_transfer_count = wpc.count;
+			_transfer_dataman_id = _dataman_id == 0 ? 1 : 0;	// use inactive storage for transmission
+			_transfer_current_seq = -1;
+
+		} else if (_state == MAVLINK_WPM_STATE_GETLIST) {
+			_time_last_recv = hrt_absolute_time();
+
+			if (_transfer_seq == 0) {
+				/* looks like our MISSION_REQUEST was lost, try again */
+				if (_verbose) { warnx("WPM: MISSION_COUNT %u from ID %u (again)", wpc.count, msg->sysid); }
+
+				_mavlink->send_statustext("WP CMD OK AGAIN");
+
+			} else {
+				if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: busy, already receiving seq %u", _transfer_seq); }
+
+				_mavlink->send_statustext("REJ. WP CMD: Busy");
+				return;
+			}
+
+		} else {
+			if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: busy, state %i", _state); }
+
+			_mavlink->send_statustext("IGN MISSION_COUNT: Busy");
+			return;
+		}
+
+		send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq);
+	}
+}
+
+
+void
+MavlinkMissionManager::handle_mission_item(const mavlink_message_t *msg)
+{
+	mavlink_mission_item_t wp;
+	mavlink_msg_mission_item_decode(msg, &wp);
+
+	if (wp.target_system == mavlink_system.sysid && wp.target_component == _comp_id) {
+		if (_state == MAVLINK_WPM_STATE_GETLIST) {
+			_time_last_recv = hrt_absolute_time();
+
+			if (wp.seq != _transfer_seq) {
+				if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u was not the expected %u", wp.seq, _transfer_seq); }
+
+				/* don't send request here, it will be performed in eventloop after timeout */
+				return;
+			}
+
+		} else if (_state == MAVLINK_WPM_STATE_IDLE) {
+			if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: no transfer"); }
+
+			_mavlink->send_statustext("IGN MISSION_ITEM: No transfer");
+			return;
+
+		} else {
+			if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: busy, state %i", _state); }
+
+			_mavlink->send_statustext("IGN MISSION_ITEM: Busy");
+			return;
+		}
+
+		struct mission_item_s mission_item;
+		int ret = parse_mavlink_mission_item(&wp, &mission_item);
+
+		if (ret != OK) {
+			if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u invalid item", wp.seq); }
+
+			send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, ret);
+			_state = MAVLINK_WPM_STATE_IDLE;
+			return;
+		}
+
+		dm_item_t dm_item = _transfer_dataman_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1;
+
+		if (dm_write(dm_item, wp.seq, DM_PERSIST_POWER_ON_RESET, &mission_item, sizeof(struct mission_item_s)) != sizeof(struct mission_item_s)) {
+			if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: error writing seq %u to dataman ID %i", wp.seq, _transfer_dataman_id); }
+
+			send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
+			_mavlink->send_statustext("#audio: Unable to write on micro SD");
+			_state = MAVLINK_WPM_STATE_IDLE;
+			return;
+		}
+
+		/* waypoint marked as current */
+		if (wp.current) {
+			_transfer_current_seq = wp.seq;
+		}
+
+		if (_verbose) { warnx("WPM: MISSION_ITEM seq %u received", wp.seq); }
+
+		_transfer_seq = wp.seq + 1;
+
+		if (_transfer_seq == _transfer_count) {
+			/* 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); }
+
+			_state = MAVLINK_WPM_STATE_IDLE;
+
+			if (update_active_mission(_transfer_dataman_id, _transfer_count, _transfer_current_seq) == OK) {
+				send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED);
+
+			} else {
+				send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
+			}
+
+		} else {
+			/* request next item */
+			send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq);
+		}
+	}
+}
+
+
+void
+MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg)
+{
+	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 (_state == MAVLINK_WPM_STATE_IDLE) {
+			/* don't touch mission items storage itself, but only items count in mission state */
+			_time_last_recv = hrt_absolute_time();
+
+			if (update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0) == OK) {
+				if (_verbose) { warnx("WPM: CLEAR_ALL OK"); }
+				send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED);
+
+			} else {
+				send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
+			}
+
+		} else {
+			_mavlink->send_statustext("IGN WP CLEAR CMD: Busy");
+
+			if (_verbose) { warnx("WPM: CLEAR_ALL IGNORED: busy"); }
+		}
+	}
+}
+
+int
+MavlinkMissionManager::parse_mavlink_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->param1;
+		break;
+	case MAV_CMD_DO_JUMP:
+		mission_item->do_jump_mission_index = mavlink_mission_item->param1;
+		mission_item->do_jump_repeat_count = mavlink_mission_item->param2;
+		break;
+	default:
+		mission_item->acceptance_radius = mavlink_mission_item->param2;
+		mission_item->time_inside = mavlink_mission_item->param1;
+		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 = (NAV_CMD)mavlink_mission_item->command;
+
+	mission_item->autocontinue = mavlink_mission_item->autocontinue;
+	// mission_item->index = mavlink_mission_item->seq;
+	mission_item->origin = ORIGIN_MAVLINK;
+
+	/* reset DO_JUMP count */
+	mission_item->do_jump_current_count = 0;
+
+	return MAV_MISSION_ACCEPTED;
+}
+
+
+int
+MavlinkMissionManager::format_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->param1 = mission_item->pitch_min;
+		break;
+
+	case NAV_CMD_DO_JUMP:
+		mavlink_mission_item->param1 = mission_item->do_jump_mission_index;
+		mavlink_mission_item->param2 = mission_item->do_jump_repeat_count;
+		break;
+
+	default:
+		mavlink_mission_item->param2 = mission_item->acceptance_radius;
+		mavlink_mission_item->param1 = mission_item->time_inside;
+		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->autocontinue = mission_item->autocontinue;
+	// mavlink_mission_item->seq = mission_item->index;
+
+	return OK;
+}
diff --git a/src/modules/mavlink/mavlink_mission.h b/src/modules/mavlink/mavlink_mission.h
new file mode 100644
index 000000000..d8695cf83
--- /dev/null
+++ b/src/modules/mavlink/mavlink_mission.h
@@ -0,0 +1,176 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *
+ * 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 mavlink_mission.h
+ * MAVLink mission manager interface definition.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#pragma once
+
+#include "mavlink_bridge_header.h"
+#include "mavlink_rate_limiter.h"
+#include <uORB/uORB.h>
+
+// FIXME XXX - TO BE MOVED TO XML
+enum MAVLINK_WPM_STATES {
+	MAVLINK_WPM_STATE_IDLE = 0,
+	MAVLINK_WPM_STATE_SENDLIST,
+	MAVLINK_WPM_STATE_GETLIST,
+	MAVLINK_WPM_STATE_ENUM_END
+};
+
+enum MAVLINK_WPM_CODES {
+	MAVLINK_WPM_CODE_OK = 0,
+	MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
+	MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
+	MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
+	MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
+	MAVLINK_WPM_CODE_ENUM_END
+};
+
+#define MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT 5000000    ///< Protocol communication action timeout in useconds
+#define MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT 500000        ///< Protocol communication retry timeout in useconds
+
+class Mavlink;
+
+class MavlinkMissionManager {
+public:
+	MavlinkMissionManager(Mavlink *parent);
+
+	~MavlinkMissionManager();
+
+	void init_offboard_mission();
+
+	int update_active_mission(int dataman_id, unsigned count, int seq);
+
+	void send_message(mavlink_message_t *msg);
+
+	/**
+	 *  @brief Sends an waypoint ack message
+	 */
+	void send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t type);
+
+	/**
+	 *  @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 send_mission_current(uint16_t seq);
+
+	void send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count);
+
+	void send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq);
+
+	void send_mission_request(uint8_t sysid, uint8_t compid, uint16_t seq);
+
+	/**
+	 *  @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 send_mission_item_reached(uint16_t seq);
+
+	void eventloop();
+
+	void handle_message(const mavlink_message_t *msg);
+
+	void handle_mission_ack(const mavlink_message_t *msg);
+
+	void handle_mission_set_current(const mavlink_message_t *msg);
+
+	void handle_mission_request_list(const mavlink_message_t *msg);
+
+	void handle_mission_request(const mavlink_message_t *msg);
+
+	void handle_mission_count(const mavlink_message_t *msg);
+
+	void handle_mission_item(const mavlink_message_t *msg);
+
+	void handle_mission_clear_all(const mavlink_message_t *msg);
+
+	/**
+	 * Parse mavlink MISSION_ITEM message to get mission_item_s.
+	 */
+	int parse_mavlink_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
+
+	/**
+	 * Format mission_item_s as mavlink MISSION_ITEM message.
+	 */
+	int format_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);
+
+	void set_verbose(bool v) { _verbose = v; }
+
+private:
+	Mavlink*	_mavlink;
+	mavlink_channel_t	_channel;
+	uint8_t		_comp_id;
+
+	enum MAVLINK_WPM_STATES _state;			///< Current state
+
+	uint64_t	_time_last_recv;
+	uint64_t	_time_last_sent;
+
+	uint32_t	_action_timeout;
+	uint32_t	_retry_timeout;
+	unsigned	_max_count;						///< Maximal count of mission items
+
+	int			_dataman_id;					///< Dataman storage ID for active mission
+	unsigned	_count;							///< Count of items in active mission
+	int			_current_seq;					///< Current item sequence in active mission
+
+	int			_transfer_dataman_id;			///< Dataman storage ID for current transmission
+	unsigned	_transfer_count;				///< Items count in current transmission
+	int			_transfer_seq;					///< Item sequence in current transmission
+	int			_transfer_current_seq;				///< Current item ID for current transmission (-1 means not initialized)
+	uint8_t		_transfer_partner_sysid;		///< Partener SysID for current transmission
+	uint8_t		_transfer_partner_compid;		///< Partner ComponentID for current transmission
+
+	int			_offboard_mission_sub;
+	int			_mission_result_sub;
+	orb_advert_t	_offboard_mission_pub;
+
+	MavlinkRateLimiter _slow_rate_limiter;
+
+	bool _verbose;
+};
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 1e217ec70..834852d6f 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -79,7 +79,6 @@ __BEGIN_DECLS
 #include "mavlink_bridge_header.h"
 #include "mavlink_receiver.h"
 #include "mavlink_main.h"
-#include "util.h"
 
 __END_DECLS
 
@@ -902,16 +901,8 @@ MavlinkReceiver::receive_thread(void *arg)
 					/* handle generic messages and commands */
 					handle_message(&msg);
 
-					/* handle packet with waypoint component */
-					_mavlink->mavlink_wpm_message_handler(&msg);
-
-					/* handle packet with parameter component */
-					_mavlink->mavlink_pm_message_handler(_mavlink->get_channel(), &msg);
-
-					if (_mavlink->get_forwarding_on()) {
-						/* forward any messages to other mavlink instances */
-						Mavlink::forward_message(&msg, _mavlink);
-					}
+					/* handle packet with parent object */
+					_mavlink->handle_message(&msg);
 				}
 			}
 		}
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 9ab84b58a..df5d037f8 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -100,8 +100,6 @@ public:
 	static void *start_helper(void *context);
 
 private:
-	perf_counter_t	_loop_perf;			/**< loop performance counter */
-
 	Mavlink	*_mavlink;
 
 	void handle_message(mavlink_message_t *msg);
diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk
index f532e26fe..725a9e184 100644
--- a/src/modules/mavlink/module.mk
+++ b/src/modules/mavlink/module.mk
@@ -39,6 +39,7 @@ MODULE_COMMAND	 = mavlink
 SRCS		 += mavlink_main.cpp \
 			mavlink.c \
 			mavlink_receiver.cpp \
+			mavlink_mission.cpp \
 			mavlink_orb_subscription.cpp \
 			mavlink_messages.cpp \
 			mavlink_stream.cpp \
diff --git a/src/modules/mavlink/util.h b/src/modules/mavlink/util.h
deleted file mode 100644
index 5ca9a085d..000000000
--- a/src/modules/mavlink/util.h
+++ /dev/null
@@ -1,53 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
- *
- * 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 util.h
- * Utility and helper functions and data.
- */
-
-#pragma once
-
-/** MAVLink communications channel */
-extern uint8_t chan;
-
-/** Shutdown marker */
-extern volatile bool thread_should_exit;
-
-/** Waypoint storage */
-extern mavlink_wpm_storage *wpm;
-
-/**
- * Translate the custom state into standard mavlink modes and state.
- */
-extern void get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode);
diff --git a/src/modules/mavlink/waypoints.h b/src/modules/mavlink/waypoints.h
deleted file mode 100644
index a2109f2d8..000000000
--- a/src/modules/mavlink/waypoints.h
+++ /dev/null
@@ -1,111 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2009-2014 PX4 Development Team. All rights reserved.
- *
- * 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.h
- * MAVLink waypoint protocol definition (BSD-relicensed).
- *
- * @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>
- */
-
-#ifndef WAYPOINTS_H_
-#define WAYPOINTS_H_
-
-/* This assumes you have the mavlink headers on your include path
- or in the same folder as this source file */
-
-#include <v1.0/mavlink_types.h>
-#include "mavlink_bridge_header.h"
-#include <stdbool.h>
-#include <uORB/topics/mission.h>
-
-enum MAVLINK_WPM_STATES {
-	MAVLINK_WPM_STATE_IDLE = 0,
-	MAVLINK_WPM_STATE_SENDLIST,
-	MAVLINK_WPM_STATE_SENDLIST_SENDWPS,
-	MAVLINK_WPM_STATE_GETLIST,
-	MAVLINK_WPM_STATE_GETLIST_GETWPS,
-	MAVLINK_WPM_STATE_GETLIST_GOTALL,
-	MAVLINK_WPM_STATE_ENUM_END
-};
-
-enum MAVLINK_WPM_CODES {
-	MAVLINK_WPM_CODE_OK = 0,
-	MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
-	MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
-	MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
-	MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
-	MAVLINK_WPM_CODE_ENUM_END
-};
-
-
-#define MAVLINK_WPM_MAX_WP_COUNT 255
-#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000         ///< Protocol communication timeout in useconds
-#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000           ///< When to send a new setpoint
-#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000
-
-
-struct mavlink_wpm_storage {
-	uint16_t size;
-	uint16_t max_size;
-	enum MAVLINK_WPM_STATES current_state;
-	int16_t current_wp_id;							///< Waypoint in current transmission
-	uint16_t current_count;
-	uint8_t current_partner_sysid;
-	uint8_t current_partner_compid;
-	uint64_t timestamp_lastaction;
-	uint64_t timestamp_last_send_setpoint;
-	uint32_t action_timeout;
-	int current_dataman_id;
-};
-
-typedef struct mavlink_wpm_storage mavlink_wpm_storage;
-
-int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
-int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);
-
-
-void mavlink_wpm_init(mavlink_wpm_storage *state);
-void mavlink_waypoint_eventloop(uint64_t now);
-void mavlink_wpm_message_handler(const mavlink_message_t *msg);
-
-extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
-		float param2, float param3, float param4, float param5_lat_x,
-		float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command);
-
-static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
-
-#endif /* WAYPOINTS_H_ */