1 files changed, 27 insertions, 24 deletions

diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index 068774c47..7a761588a 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -59,8 +59,7 @@
 static const int ERROR = -1;
 
 
-MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) :
-	_mavlink(mavlink),
+MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkStream(mavlink),
 	_state(MAVLINK_WPM_STATE_IDLE),
 	_time_last_recv(0),
 	_time_last_sent(0),
@@ -79,9 +78,8 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) :
 	_offboard_mission_sub(-1),
 	_mission_result_sub(-1),
 	_offboard_mission_pub(-1),
-	_slow_rate_limiter(2000000.0f / mavlink->get_rate_mult()),
+	_slow_rate_limiter(_interval / 10.0f),
 	_verbose(false),
-	_channel(mavlink->get_channel()),
 	_comp_id(MAV_COMP_ID_MISSIONPLANNER)
 {
 	_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
@@ -96,6 +94,20 @@ MavlinkMissionManager::~MavlinkMissionManager()
 	close(_mission_result_sub);
 }
 
+unsigned
+MavlinkMissionManager::get_size()
+{
+	if (_state == MAVLINK_WPM_STATE_SENDLIST) {
+		return MAVLINK_MSG_ID_MISSION_ITEM_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+
+	} else if (_state == MAVLINK_WPM_STATE_GETLIST) {
+		return MAVLINK_MSG_ID_MISSION_REQUEST + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+
+	} else {
+		return 0;
+	}
+}
+
 void
 MavlinkMissionManager::init_offboard_mission()
 {
@@ -157,15 +169,13 @@ MavlinkMissionManager::update_active_mission(int dataman_id, unsigned count, int
 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);
+	_mavlink->send_message(MAVLINK_MSG_ID_MISSION_ACK, &wpa);
 
 	if (_verbose) { warnx("WPM: Send MISSION_ACK type %u to ID %u", wpa.type, wpa.target_system); }
 }
@@ -175,13 +185,11 @@ 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);
+		_mavlink->send_message(MAVLINK_MSG_ID_MISSION_CURRENT, &wpc);
 
 	} else if (seq == 0 && _count == 0) {
 		/* don't broadcast if no WPs */
@@ -199,15 +207,13 @@ MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_
 {
 	_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);
+	_mavlink->send_message(MAVLINK_MSG_ID_MISSION_COUNT, &wpc);
 
 	if (_verbose) { warnx("WPM: Send MISSION_COUNT %u to ID %u", wpc.count, wpc.target_system); }
 }
@@ -226,13 +232,12 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_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);
+
+		_mavlink->send_message(MAVLINK_MSG_ID_MISSION_ITEM, &wp);
 
 		if (_verbose) { warnx("WPM: Send MISSION_ITEM seq %u to ID %u", wp.seq, wp.target_system); }
 
@@ -251,13 +256,12 @@ MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint1
 	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);
+
+		_mavlink->send_message(MAVLINK_MSG_ID_MISSION_REQUEST, &wpr);
 
 		if (_verbose) { warnx("WPM: Send MISSION_REQUEST seq %u to ID %u", wpr.seq, wpr.target_system); }
 
@@ -272,22 +276,21 @@ MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint1
 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);
+	_mavlink->send_message(MAVLINK_MSG_ID_MISSION_ITEM_REACHED, &wp_reached);
 
 	if (_verbose) { warnx("WPM: Send MISSION_ITEM_REACHED reached_seq %u", wp_reached.seq); }
 }
 
 
 void
-MavlinkMissionManager::eventloop()
+MavlinkMissionManager::send(const hrt_abstime now)
 {
-	hrt_abstime now = hrt_absolute_time();
+	/* update interval for slow rate limiter */
+	_slow_rate_limiter.set_interval(_interval * 10 / _mavlink->get_rate_mult());
 
 	bool updated = false;
 	orb_check(_mission_result_sub, &updated);