C++ (Cpp) format_mavlink_mission_item Examples

Example #1

File: mavlink_mission.cpp Project: ButterZone/Firmware

void
MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq)
{
	dm_item_t dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_dataman_id);
	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();

		if (_int_mode) {
			mavlink_mission_item_int_t wp;
			format_mavlink_mission_item(&mission_item, reinterpret_cast<mavlink_mission_item_t *>(&wp));

			wp.target_system = sysid;
			wp.target_component = compid;
			wp.seq = seq;
			wp.current = (_current_seq == seq) ? 1 : 0;

			mavlink_msg_mission_item_int_send_struct(_mavlink->get_channel(), &wp);

			if (_verbose) {
				PX4_INFO("WPM: Send MISSION_ITEM_INT seq %u to ID %u", wp.seq, wp.target_system);
			}

		} else {
			mavlink_mission_item_t wp;
			format_mavlink_mission_item(&mission_item, &wp);

			wp.target_system = sysid;
			wp.target_component = compid;
			wp.seq = seq;
			wp.current = (_current_seq == seq) ? 1 : 0;

			mavlink_msg_mission_item_send_struct(_mavlink->get_channel(), &wp);

			if (_verbose) {
				PX4_INFO("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);

		if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) {
			_mavlink->send_statustext_critical("Mission storage: Unable to read from microSD");
		}

		if (_verbose) { warnx("WPM: Send MISSION_ITEM ERROR: could not read seq %u from dataman ID %i", seq, _dataman_id); }
	}
}

Example #2

File: mavlink_mission.cpp Project: Nitaym/Firmware

void
MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq)
{
	dm_item_t dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_dataman_id);
	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);

		wp.target_system = sysid;
		wp.target_component = compid;
		wp.seq = seq;
		wp.current = (_current_seq == seq) ? 1 : 0;

		_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); }

	} else {
		send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
		_mavlink->send_statustext_critical("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); }
	}
}