void
MavlinkMissionManager::send(const hrt_abstime now)
{
/* 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);
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_critical("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::send(const hrt_abstime now)
{
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) {
_last_reached = mission_result.seq_reached;
send_mission_item_reached((uint16_t)mission_result.seq_reached);
} else {
_last_reached = -1;
}
send_mission_current(_current_seq);
if (mission_result.item_do_jump_changed) {
/* send a mission item again if the remaining DO_JUMPs has changed */
send_mission_item(_transfer_partner_sysid, _transfer_partner_compid,
(uint16_t)mission_result.item_changed_index);
}
} else {
if (_slow_rate_limiter.check(now)) {
send_mission_current(_current_seq);
if (_last_reached >= 0) {
send_mission_item_reached((uint16_t)_last_reached);
}
}
}
/* check for timed-out operations */
if (_state != MAVLINK_WPM_STATE_IDLE && hrt_elapsed_time(&_time_last_recv) > _action_timeout) {
_mavlink->send_statustext_critical("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;
// since we are giving up, reset this state also, so another request can be started.
_transfer_in_progress = false;
} else if (_state == MAVLINK_WPM_STATE_GETLIST && hrt_elapsed_time(&_time_last_sent) > _retry_timeout) {
/* try to request item again after timeout,
* toggle int32 or float protocol variant to try both */
_int_mode = !_int_mode;
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);
}
}
}
