Example #1
0
/*
  handle a MISSION_CLEAR_ALL mavlink packet
 */
void GCS_MAVLINK::handle_mission_clear_all(AP_Mission &mission, mavlink_message_t *msg)
{
    // decode
    mavlink_mission_clear_all_t packet;
    mavlink_msg_mission_clear_all_decode(msg, &packet);

    // clear all waypoints
    if (mission.clear()) {
        // send ack
        mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, MAV_RESULT_ACCEPTED);
    }else{
        // send nack
        mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, 1);
    }
}
Example #2
0
/*
  handle a MISSION_COUNT mavlink packet
 */
void GCS_MAVLINK::handle_mission_count(AP_Mission &mission, mavlink_message_t *msg)
{
    // decode
    mavlink_mission_count_t packet;
    mavlink_msg_mission_count_decode(msg, &packet);

    // exit immediately if this command is not meant for this vehicle
    if (mavlink_check_target(packet.target_system,packet.target_component)) {
        return;
    }

    // start waypoint receiving
    if (packet.count > mission.num_commands_max()) {
        // send NAK
        mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, MAV_MISSION_NO_SPACE);
        return;
    }

    // new mission arriving, truncate mission to be the same length
    mission.truncate(packet.count);

    // set variables to help handle the expected receiving of commands from the GCS
    waypoint_timelast_receive = hal.scheduler->millis();    // set time we last received commands to now
    waypoint_receiving = true;              // record that we expect to receive commands
    waypoint_request_i = 0;                 // reset the next expected command number to zero
    waypoint_request_last = packet.count;   // record how many commands we expect to receive
    waypoint_timelast_request = 0;          // set time we last requested commands to zero
}
Example #3
0
/*
  handle a MISSION_REQUEST mavlink packet
 */
void GCS_MAVLINK::handle_mission_request(AP_Mission &mission, mavlink_message_t *msg)
{
    AP_Mission::Mission_Command cmd;
    // decode
    mavlink_mission_request_t packet;
    mavlink_msg_mission_request_decode(msg, &packet);

    // exit immediately if this command is not meant for this vehicle
    if (mavlink_check_target(packet.target_system, packet.target_component)) {
        return;
    }

    // retrieve mission from eeprom
    if (!mission.read_cmd_from_storage(packet.seq, cmd)) {
        goto mission_item_send_failed;
    }

    // convert mission command to mavlink mission item packet
    mavlink_mission_item_t ret_packet;
    memset(&ret_packet, 0, sizeof(ret_packet));
    if (!AP_Mission::mission_cmd_to_mavlink(cmd, ret_packet)) {
        goto mission_item_send_failed;
    }

    // set packet's current field to 1 if this is the command being executed
    if (cmd.id == (uint16_t)mission.get_current_nav_cmd().index) {
        ret_packet.current = 1;
    } else {
        ret_packet.current = 0;
    }

    // set auto continue to 1
    ret_packet.autocontinue = 1;     // 1 (true), 0 (false)

    /*
      avoid the _send() function to save memory on APM2, as it avoids
      the stack usage of the _send() function by using the already
      declared ret_packet above
     */
    ret_packet.target_system = msg->sysid;
    ret_packet.target_component = msg->compid;
    ret_packet.seq = packet.seq;
    ret_packet.command = cmd.id;

    _mav_finalize_message_chan_send(chan, 
                                    MAVLINK_MSG_ID_MISSION_ITEM,
                                    (const char *)&ret_packet,
                                    MAVLINK_MSG_ID_MISSION_ITEM_LEN,
                                    MAVLINK_MSG_ID_MISSION_ITEM_CRC);
    return;

mission_item_send_failed:
    // send failure message
    mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, MAV_MISSION_ERROR);
}
Example #4
0
/*
  handle a MISSION_CLEAR_ALL mavlink packet
 */
void GCS_MAVLINK::handle_mission_clear_all(AP_Mission &mission, mavlink_message_t *msg)
{
    // decode
    mavlink_mission_clear_all_t packet;
    mavlink_msg_mission_clear_all_decode(msg, &packet);

    // exit immediately if this command is not meant for this vehicle
    if (mavlink_check_target(packet.target_system, packet.target_component)) {
        return;
    }

    // clear all waypoints
    if (mission.clear()) {
        // send ack
        mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, MAV_RESULT_ACCEPTED);
    }else{
        // send nack
        mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, 1);
    }
}
Example #5
0
static inline void MissionClearAll(mavlink_message_t* handle_msg)
{
	mavlink_mission_clear_all_t packet;
	uint8_t type = 0; // ok (0), error(1)
	int16_t i;

	//send_text((uint8_t*)"waypoint clear all\r\n");
	DPRINT("mission clear all\r\n");

	// decode
	mavlink_msg_mission_clear_all_decode(handle_msg, &packet);
	if (mavlink_check_target(packet.target_system, packet.target_component)) return;

	// clear all waypoints
	set(PARAM_WP_TOTAL, 0);
	clear_flightplan();

	// send acknowledgement 3 times to makes sure it is received
	for (i = 0; i < 3; i++)
	{
		mavlink_msg_mission_ack_send(MAVLINK_COMM_0, handle_msg->sysid, handle_msg->compid, type);
	}
}
Example #6
0
void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
{
    switch (msg->msgid) {

    // If we are currently operating as a proxy for a remote, 
    // alas we have to look inside each packet to see if its for us or for the remote
    case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
    {
        handle_request_data_stream(msg, true);
        break;
    }


    case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
    {
        handle_param_request_list(msg);
        break;
    }

    case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
    {
        handle_param_request_read(msg);
        break;
    }

    case MAVLINK_MSG_ID_PARAM_SET:
    {
        handle_param_set(msg, NULL);
        break;
    }

    case MAVLINK_MSG_ID_HEARTBEAT:
        break;

    case MAVLINK_MSG_ID_COMMAND_LONG:
    {
        // decode
        mavlink_command_long_t packet;
        mavlink_msg_command_long_decode(msg, &packet);
        
        uint8_t result = MAV_RESULT_UNSUPPORTED;
        
        // do command
        send_text_P(SEVERITY_LOW,PSTR("command received: "));
        
        switch(packet.command) {
            
            case MAV_CMD_PREFLIGHT_CALIBRATION:
            {
                if (is_equal(packet.param1,1.0f)) {
                    tracker.ins.init_gyro();
                    if (tracker.ins.gyro_calibrated_ok_all()) {
                        tracker.ahrs.reset_gyro_drift();
                        result = MAV_RESULT_ACCEPTED;
                    } else {
                        result = MAV_RESULT_FAILED;
                    }
                } 
                if (is_equal(packet.param3,1.0f)) {
                    tracker.init_barometer();
                    // zero the altitude difference on next baro update
                    tracker.nav_status.need_altitude_calibration = true;
                }
                if (is_equal(packet.param4,1.0f)) {
                    // Cant trim radio
                } else if (is_equal(packet.param5,1.0f)) {
                    float trim_roll, trim_pitch;
                    AP_InertialSensor_UserInteract_MAVLink interact(this);
                    if(tracker.ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {
                        // reset ahrs's trim to suggested values from calibration routine
                        tracker.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
                    }
                } else if (is_equal(packet.param5,2.0f)) {
                    // accel trim
                    float trim_roll, trim_pitch;
                    if(tracker.ins.calibrate_trim(trim_roll, trim_pitch)) {
                        // reset ahrs's trim to suggested values from calibration routine
                        tracker.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
                        result = MAV_RESULT_ACCEPTED;
                    } else {
                        result = MAV_RESULT_FAILED;
                    }
                }
                result = MAV_RESULT_ACCEPTED;
                break;
            }

            case MAV_CMD_COMPONENT_ARM_DISARM:
                if (packet.target_component == MAV_COMP_ID_SYSTEM_CONTROL) {
                    if (is_equal(packet.param1,1.0f)) {
                        tracker.arm_servos();
                        result = MAV_RESULT_ACCEPTED;
                    } else if (is_zero(packet.param1))  {
                        tracker.disarm_servos();
                        result = MAV_RESULT_ACCEPTED;
                    } else {
                        result = MAV_RESULT_UNSUPPORTED;
                    }
                } else {
                    result = MAV_RESULT_UNSUPPORTED;
                }
            break;

            case MAV_CMD_DO_SET_MODE:
                switch ((uint16_t)packet.param1) {
                    case MAV_MODE_MANUAL_ARMED:
                    case MAV_MODE_MANUAL_DISARMED:
                        tracker.set_mode(MANUAL);
                        result = MAV_RESULT_ACCEPTED;
                        break;

                    case MAV_MODE_AUTO_ARMED:
                    case MAV_MODE_AUTO_DISARMED:
                        tracker.set_mode(AUTO);
                        result = MAV_RESULT_ACCEPTED;
                        break;

                    default:
                        result = MAV_RESULT_UNSUPPORTED;
                }
                break;

            case MAV_CMD_DO_SET_SERVO:
                if (tracker.servo_test_set_servo(packet.param1, packet.param2)) {
                    result = MAV_RESULT_ACCEPTED;
                }
                break;

                // mavproxy/mavutil sends this when auto command is entered 
            case MAV_CMD_MISSION_START:
                tracker.set_mode(AUTO);
                result = MAV_RESULT_ACCEPTED;
                break;

            case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
            {
                if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) {
                    // when packet.param1 == 3 we reboot to hold in bootloader
                    hal.scheduler->reboot(is_equal(packet.param1,3.0f));
                    result = MAV_RESULT_ACCEPTED;
                }
                break;
            }

            case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
                if (is_equal(packet.param1,1.0f)) {
                    tracker.gcs[chan-MAVLINK_COMM_0].send_autopilot_version();
                    result = MAV_RESULT_ACCEPTED;
                }
                break;
            }

            default:
                break;
        }
        mavlink_msg_command_ack_send(
            chan,
            packet.command,
            result);
        
        break;
    }
         
    // When mavproxy 'wp sethome' 
    case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
    {
        // decode
        mavlink_mission_write_partial_list_t packet;
        mavlink_msg_mission_write_partial_list_decode(msg, &packet);
        if (packet.start_index == 0)
        {
            // New home at wp index 0. Ask for it
            waypoint_receiving = true;
            waypoint_request_i = 0;
            waypoint_request_last = 0;
            send_message(MSG_NEXT_WAYPOINT);
            waypoint_receiving = true;
        }
        break;
    }

    // XXX receive a WP from GCS and store in EEPROM if it is HOME
    case MAVLINK_MSG_ID_MISSION_ITEM:
    {
        // decode
        mavlink_mission_item_t packet;
        uint8_t result = MAV_MISSION_ACCEPTED;

        mavlink_msg_mission_item_decode(msg, &packet);

        struct Location tell_command = {};

        switch (packet.frame)
        {
        case MAV_FRAME_MISSION:
        case MAV_FRAME_GLOBAL:
        {
            tell_command.lat = 1.0e7f*packet.x;                                     // in as DD converted to * t7
            tell_command.lng = 1.0e7f*packet.y;                                     // in as DD converted to * t7
            tell_command.alt = packet.z*1.0e2f;                                     // in as m converted to cm
            tell_command.options = 0;                                     // absolute altitude
            break;
        }

#ifdef MAV_FRAME_LOCAL_NED
        case MAV_FRAME_LOCAL_NED:                         // local (relative to home position)
        {
            tell_command.lat = 1.0e7f*ToDeg(packet.x/
                                           (RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat;
            tell_command.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng;
            tell_command.alt = -packet.z*1.0e2f;
            tell_command.options = MASK_OPTIONS_RELATIVE_ALT;
            break;
        }
#endif

#ifdef MAV_FRAME_LOCAL
        case MAV_FRAME_LOCAL:                         // local (relative to home position)
        {
            tell_command.lat = 1.0e7f*ToDeg(packet.x/
                                           (RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat;
            tell_command.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng;
            tell_command.alt = packet.z*1.0e2f;
            tell_command.options = MASK_OPTIONS_RELATIVE_ALT;
            break;
        }
#endif

        case MAV_FRAME_GLOBAL_RELATIVE_ALT:                         // absolute lat/lng, relative altitude
        {
            tell_command.lat = 1.0e7f * packet.x;                                     // in as DD converted to * t7
            tell_command.lng = 1.0e7f * packet.y;                                     // in as DD converted to * t7
            tell_command.alt = packet.z * 1.0e2f;
            tell_command.options = MASK_OPTIONS_RELATIVE_ALT;                                     // store altitude relative!! Always!!
            break;
        }

        default:
            result = MAV_MISSION_UNSUPPORTED_FRAME;
            break;
        }

        if (result != MAV_MISSION_ACCEPTED) goto mission_failed;

        // Check if receiving waypoints (mission upload expected)
        if (!waypoint_receiving) {
            result = MAV_MISSION_ERROR;
            goto mission_failed;
        }

        // check if this is the HOME wp
        if (packet.seq == 0) {
            tracker.set_home(tell_command); // New home in EEPROM
            send_text_P(SEVERITY_LOW,PSTR("new HOME received"));
            waypoint_receiving = false;
        }

mission_failed:
        // we are rejecting the mission/waypoint
        mavlink_msg_mission_ack_send(
            chan,
            msg->sysid,
            msg->compid,
            result);
        break;
    }

    case MAVLINK_MSG_ID_MANUAL_CONTROL:
    {
        mavlink_manual_control_t packet;
        mavlink_msg_manual_control_decode(msg, &packet);
        tracker.tracking_manual_control(packet);
        break;
    }

    case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: 
    {
        // decode
        mavlink_global_position_int_t packet;
        mavlink_msg_global_position_int_decode(msg, &packet);
        tracker.tracking_update_position(packet);
        break;
    }

    case MAVLINK_MSG_ID_SCALED_PRESSURE: 
    {
        // decode
        mavlink_scaled_pressure_t packet;
        mavlink_msg_scaled_pressure_decode(msg, &packet);
        tracker.tracking_update_pressure(packet);
        break;
    }

    case MAVLINK_MSG_ID_SET_MODE:
    {
        handle_set_mode(msg, FUNCTOR_BIND(&tracker, &Tracker::mavlink_set_mode, bool, uint8_t));
        break;
    }

#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
    case MAVLINK_MSG_ID_SERIAL_CONTROL:
        handle_serial_control(msg, tracker.gps);
        break;

    case MAVLINK_MSG_ID_GPS_INJECT_DATA:
        handle_gps_inject(msg, tracker.gps);
        break;

#endif

    case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
        tracker.gcs[chan-MAVLINK_COMM_0].send_autopilot_version();
        break;

    } // end switch
} // end handle mavlink
Example #7
0
void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg)
{
    switch (msg->msgid) {

    case MAVLINK_MSG_ID_HEARTBEAT:
        break;

    // When mavproxy 'wp sethome' 
    case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
    {
        // decode
        mavlink_mission_write_partial_list_t packet;
        mavlink_msg_mission_write_partial_list_decode(msg, &packet);
        if (packet.start_index == 0)
        {
            // New home at wp index 0. Ask for it
            waypoint_receiving = true;
            waypoint_request_i = 0;
            waypoint_request_last = 0;
            send_message(MSG_NEXT_WAYPOINT);
        }
        break;
    }

    // XXX receive a WP from GCS and store in EEPROM if it is HOME
    case MAVLINK_MSG_ID_MISSION_ITEM:
    {
        // decode
        mavlink_mission_item_t packet;
        MAV_MISSION_RESULT result = MAV_MISSION_ACCEPTED;

        mavlink_msg_mission_item_decode(msg, &packet);

        struct Location tell_command = {};

        switch (packet.frame)
        {
        case MAV_FRAME_MISSION:
        case MAV_FRAME_GLOBAL:
        {
            tell_command.lat = 1.0e7f*packet.x;                                     // in as DD converted to * t7
            tell_command.lng = 1.0e7f*packet.y;                                     // in as DD converted to * t7
            tell_command.alt = packet.z*1.0e2f;                                     // in as m converted to cm
            tell_command.options = 0;                                     // absolute altitude
            break;
        }

#ifdef MAV_FRAME_LOCAL_NED
        case MAV_FRAME_LOCAL_NED:                         // local (relative to home position)
        {
            tell_command.lat = 1.0e7f*ToDeg(packet.x/
                                           (RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat;
            tell_command.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng;
            tell_command.alt = -packet.z*1.0e2f;
            tell_command.options = MASK_OPTIONS_RELATIVE_ALT;
            break;
        }
#endif

#ifdef MAV_FRAME_LOCAL
        case MAV_FRAME_LOCAL:                         // local (relative to home position)
        {
            tell_command.lat = 1.0e7f*ToDeg(packet.x/
                                           (RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat;
            tell_command.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng;
            tell_command.alt = packet.z*1.0e2f;
            tell_command.options = MASK_OPTIONS_RELATIVE_ALT;
            break;
        }
#endif

        case MAV_FRAME_GLOBAL_RELATIVE_ALT:                         // absolute lat/lng, relative altitude
        {
            tell_command.lat = 1.0e7f * packet.x;                                     // in as DD converted to * t7
            tell_command.lng = 1.0e7f * packet.y;                                     // in as DD converted to * t7
            tell_command.alt = packet.z * 1.0e2f;
            tell_command.options = MASK_OPTIONS_RELATIVE_ALT;                                     // store altitude relative!! Always!!
            break;
        }

        default:
            result = MAV_MISSION_UNSUPPORTED_FRAME;
            break;
        }

        if (result != MAV_MISSION_ACCEPTED) goto mission_failed;

        // Check if receiving waypoints (mission upload expected)
        if (!waypoint_receiving) {
            result = MAV_MISSION_ERROR;
            goto mission_failed;
        }

        // check if this is the HOME wp
        if (packet.seq == 0) {
            tracker.set_home(tell_command); // New home in EEPROM
            send_text(MAV_SEVERITY_INFO,"New HOME received");
            waypoint_receiving = false;
        }

mission_failed:
        // we are rejecting the mission/waypoint
        mavlink_msg_mission_ack_send(
            chan,
            msg->sysid,
            msg->compid,
            result,
            MAV_MISSION_TYPE_MISSION);
        break;
    }

    case MAVLINK_MSG_ID_MANUAL_CONTROL:
    {
        mavlink_manual_control_t packet;
        mavlink_msg_manual_control_decode(msg, &packet);
        tracker.tracking_manual_control(packet);
        break;
    }

    case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: 
    {
        // decode
        mavlink_global_position_int_t packet;
        mavlink_msg_global_position_int_decode(msg, &packet);
        tracker.tracking_update_position(packet);
        break;
    }

    case MAVLINK_MSG_ID_SCALED_PRESSURE: 
    {
        // decode
        mavlink_scaled_pressure_t packet;
        mavlink_msg_scaled_pressure_decode(msg, &packet);
        tracker.tracking_update_pressure(packet);
        break;
    }

    default:
        handle_common_message(msg);
        break;
    } // end switch
} // end handle mavlink
Example #8
0
static inline void MissionItem(mavlink_message_t* handle_msg)
{
	int16_t flags;
	struct waypoint3D wp;
	mavlink_mission_item_t packet;
	//send_text((uint8_t*)"waypoint\r\n");
//	DPRINT("mission item\r\n");

	// Check if receiving waypoint
	if (!mavlink_flags.mavlink_receiving_waypoints) return;

	// decode
	mavlink_msg_mission_item_decode(handle_msg, &packet);
	if (mavlink_check_target(packet.target_system, packet.target_component)) return;

	DPRINT("mission item: %u\r\n", packet.seq);

	// check if this is the requested waypoint
	if (packet.seq != waypoint_request_i) return;

	// store waypoint
	//uint8_t loadAction = 0; // 0 insert in list, 1 exec now

	switch (packet.frame)
	{
		case MAV_FRAME_GLOBAL:
		{
//			DPRINT("FRAME_GLOBAL\r\n");
//struct waypoint3D  { int32_t x; int32_t y; int16_t z; };
//struct waypointDef { struct waypoint3D loc; int16_t flags; struct waypoint3D viewpoint; };

//			DPRINT("packet.x %f packet.y %f packet.z %f\r\n", packet.x, packet.y, packet.z);
			//tell_command.lng = 1.0e7*packet.x;
			//tell_command.lat = 1.0e7*packet.y;
			//tell_command.alt = packet.z*1.0e2;

			// MatrixPilot uses X & Y in reverse to QGC
			wp.x = packet.y * 1.0e7;
			wp.y = packet.x * 1.0e7;
			wp.z = packet.z;
			flags = F_ABSOLUTE;
			break;
		}
		case MAV_FRAME_LOCAL_NED: // local (relative to home position)
		{
			DPRINT("FRAME_LOCAL - not implemented\r\n");
			//tell_command.lng = 1.0e7*ToDeg(packet.x/
					//(radius_of_earth*cos(ToRad(home.lat/1.0e7)))) + home.lng;
			//tell_command.lat = 1.0e7*ToDeg(packet.y/radius_of_earth) + home.lat;
			//tell_command.alt = -packet.z*1.0e2 + home.alt;
			break;
		}
	}

	// defaults
	//tell_command.id = CMD_BLANK;

// Currently F can be set to: F_NORMAL, or any combination of:
// F_ABSOLUTE       - Waypoints are Relative by default, unless F_ABSOLUTE is specified.
// 
// F_TAKEOFF        - More quickly gain altitude at takeoff.
// F_INVERTED       - Navigate to this waypoint with the plane upside down. (only if STABILIZE_INVERTED_FLIGHT is set to 1 in options.h)
// F_HOVER          - Hover the plane until reaching this waypoint. (only if STABILIZE_HOVER is set to 1 in options.h)
//                    NOTE: while hovering, no navigation is performed, and throttle is under manual control.
// F_LOITER         - After reaching this waypoint, continue navigating towards this same waypoint.  Repeat until leaving waypoint mode.
// F_TRIGGER        - Trigger an action to happen when this waypoint leg starts.  (See the Trigger Action section of the options.h file.) 
// F_ALTITUDE_GOAL  - Climb or descend to the given altitude, then continue to the next waypoint.
// F_CROSS_TRACK    - Navigate using cross-tracking.  Best used for longer waypoint legs.
// F_LAND           - Navigate towards this waypoint with the throttle off.

	switch (packet.command)
	{
		case MAV_CMD_NAV_TAKEOFF:
			DPRINT("NAV_TAKEOFF\r\n");
			//tell_command.id = CMD_TAKEOFF;
			flags |= F_TAKEOFF;
			break;
		case MAV_CMD_NAV_LAND:
			DPRINT("NAV_LAND\r\n");
			//tell_command.id = CMD_LAND;
			flags |= F_LAND;
			break;
		case MAV_CMD_NAV_WAYPOINT:
//			DPRINT("NAV_WAYPOINT\r\n");
			//tell_command.id = CMD_WAYPOINT;
			break;
		case MAV_CMD_NAV_LOITER_UNLIM:
//			DPRINT("NAV_LOITER\r\n");
			//tell_command.id = CMD_LOITER_TIME;
			//tell_command.p1 = packet.param2/1.0e2;
			break;
	}

	// save waypoint
	add_waypoint(wp, flags);
	//set_wp_with_index(tell_command, packet.seq);

	// update waypoint receiving state machine
	//global_data.waypoint_timelast_receive = millis();
	mavlink_waypoint_timeout = MAVLINK_WAYPOINT_TIMEOUT;
	waypoint_request_i++;

	if (waypoint_request_i == get(PARAM_WP_TOTAL))
	{
		uint8_t type = 0; // ok (0), error(1)
		//gcs.send_text("flight plane received");
		DPRINT("flight plan received\r\n");
		mavlink_msg_mission_ack_send(MAVLINK_COMM_0, handle_msg->sysid, handle_msg->compid, type);
		mavlink_flags.mavlink_receiving_waypoints = false;
		// XXX ignores waypoint radius for individual waypoints, can
		// only set WP_RADIUS parameter

		// send MAVLINK_MSG_ID_MISSION_ACK ?
	}
	else
	{
		mavlink_flags.mavlink_request_specific_waypoint = 1;
	}
}