MissionManager.cc 21.5 KB
Newer Older
1 2 3 4 5 6 7 8 9
/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

Don Gagne's avatar
Don Gagne committed
10 11 12 13 14 15

/// @file
///     @author Don Gagne <don@thegagnes.com>

#include "MissionManager.h"
#include "Vehicle.h"
16
#include "FirmwarePlugin.h"
Don Gagne's avatar
Don Gagne committed
17
#include "MAVLinkProtocol.h"
18
#include "QGCApplication.h"
Don Gagne's avatar
Don Gagne committed
19 20 21 22

QGC_LOGGING_CATEGORY(MissionManagerLog, "MissionManagerLog")

MissionManager::MissionManager(Vehicle* vehicle)
23
    : _vehicle(vehicle)
24
    , _dedicatedLink(NULL)
Don Gagne's avatar
Don Gagne committed
25 26
    , _ackTimeoutTimer(NULL)
    , _retryAck(AckNone)
27 28
    , _readTransactionInProgress(false)
    , _writeTransactionInProgress(false)
29
    , _currentMissionItem(-1)
Don Gagne's avatar
Don Gagne committed
30 31 32 33 34 35 36 37 38 39
{
    connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &MissionManager::_mavlinkMessageReceived);
    
    _ackTimeoutTimer = new QTimer(this);
    _ackTimeoutTimer->setSingleShot(true);
    _ackTimeoutTimer->setInterval(_ackTimeoutMilliseconds);
    
    connect(_ackTimeoutTimer, &QTimer::timeout, this, &MissionManager::_ackTimeout);
}

40
MissionManager::~MissionManager()
Don Gagne's avatar
Don Gagne committed
41
{
42

Don Gagne's avatar
Don Gagne committed
43 44
}

45
void MissionManager::writeMissionItems(const QList<MissionItem*>& missionItems)
Don Gagne's avatar
Don Gagne committed
46
{
47 48 49 50 51
    if (inProgress()) {
        qCDebug(MissionManagerLog) << "writeMissionItems called while transaction in progress";
        return;
    }

52 53
    bool skipFirstItem = !_vehicle->firmwarePlugin()->sendHomePositionToVehicle();

Don Gagne's avatar
Don Gagne committed
54
    _missionItems.clear();
55 56

    int firstIndex = skipFirstItem ? 1 : 0;
Don Gagne's avatar
Don Gagne committed
57
    
58
    for (int i=firstIndex; i<missionItems.count(); i++) {
59 60
        MissionItem* item = new MissionItem(*missionItems[i]);
        _missionItems.append(item);
61

62
        item->setIsCurrentItem(i == firstIndex);
63

64
        if (skipFirstItem) {
65
            // Home is in sequence 0, remainder of items start at sequence 1
66
            item->setSequenceNumber(item->sequenceNumber() - 1);
Don Gagne's avatar
Don Gagne committed
67
            if (item->command() == MAV_CMD_DO_JUMP) {
68 69
                item->setParam1((int)item->param1() - 1);
            }
Don Gagne's avatar
Don Gagne committed
70 71
        }
    }
72
    emit newMissionItemsAvailable();
Don Gagne's avatar
Don Gagne committed
73

74 75
    qCDebug(MissionManagerLog) << "writeMissionItems count:" << _missionItems.count();
    
76 77 78 79 80 81
    // Prime write list
    for (int i=0; i<_missionItems.count(); i++) {
        _itemIndicesToWrite << i;
    }
    _writeTransactionInProgress = true;

82 83
    mavlink_message_t       message;
    mavlink_mission_count_t missionCount;
84

85 86 87
    missionCount.target_system = _vehicle->id();
    missionCount.target_component = MAV_COMP_ID_MISSIONPLANNER;
    missionCount.count = _missionItems.count();
88

89
    mavlink_msg_mission_count_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &missionCount);
90

91 92
    _dedicatedLink = _vehicle->priorityLink();
    _vehicle->sendMessageOnLink(_dedicatedLink, message);
93
    _startAckTimeout(AckMissionRequest);
94
    emit inProgressChanged(true);
95 96
}

Don Gagne's avatar
Don Gagne committed
97 98 99 100 101 102 103 104 105 106 107 108 109
void MissionManager::writeArduPilotGuidedMissionItem(const QGeoCoordinate& gotoCoord, bool altChangeOnly)
{
    if (inProgress()) {
        qCDebug(MissionManagerLog) << "writeArduPilotGuidedMissionItem called while transaction in progress";
        return;
    }

    _writeTransactionInProgress = true;

    mavlink_message_t       messageOut;
    mavlink_mission_item_t  missionItem;

    missionItem.target_system =     _vehicle->id();
110
    missionItem.target_component =  _vehicle->defaultComponentId();
Don Gagne's avatar
Don Gagne committed
111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131
    missionItem.seq =               0;
    missionItem.command =           MAV_CMD_NAV_WAYPOINT;
    missionItem.param1 =            0;
    missionItem.param2 =            0;
    missionItem.param3 =            0;
    missionItem.param4 =            0;
    missionItem.x =                 gotoCoord.latitude();
    missionItem.y =                 gotoCoord.longitude();
    missionItem.z =                 gotoCoord.altitude();
    missionItem.frame =             MAV_FRAME_GLOBAL_RELATIVE_ALT;
    missionItem.current =           altChangeOnly ? 3 : 2;
    missionItem.autocontinue =      true;

    mavlink_msg_mission_item_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &messageOut, &missionItem);

    _dedicatedLink = _vehicle->priorityLink();
    _vehicle->sendMessageOnLink(_dedicatedLink, messageOut);
    _startAckTimeout(AckGuidedItem);
    emit inProgressChanged(true);
}

132
void MissionManager::requestMissionItems(void)
Don Gagne's avatar
Don Gagne committed
133
{
Don Gagne's avatar
Don Gagne committed
134
    qCDebug(MissionManagerLog) << "requestMissionItems read sequence";
135 136 137 138 139

    if (inProgress()) {
        qCDebug(MissionManagerLog) << "requestMissionItems called while transaction in progress";
        return;
    }
Don Gagne's avatar
Don Gagne committed
140 141 142 143
    
    mavlink_message_t               message;
    mavlink_mission_request_list_t  request;
    
144 145 146
    _requestItemRetryCount = 0;
    _itemIndicesToRead.clear();
    _readTransactionInProgress = true;
Don Gagne's avatar
Don Gagne committed
147 148 149 150 151
    _clearMissionItems();
    
    request.target_system = _vehicle->id();
    request.target_component = MAV_COMP_ID_MISSIONPLANNER;
    
152
    mavlink_msg_mission_request_list_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &request);
Don Gagne's avatar
Don Gagne committed
153
    
154 155
    _dedicatedLink = _vehicle->priorityLink();
    _vehicle->sendMessageOnLink(_dedicatedLink, message);
156 157 158 159
    _startAckTimeout(AckMissionCount);
    emit inProgressChanged(true);
}

Don Gagne's avatar
Don Gagne committed
160 161
void MissionManager::_ackTimeout(void)
{
162 163 164 165 166
    AckType_t timedOutAck = _retryAck;
    
    _retryAck = AckNone;
    
    if (timedOutAck == AckNone) {
Don Gagne's avatar
Don Gagne committed
167
        qCWarning(MissionManagerLog) << "_ackTimeout timeout with AckNone";
168
        _sendError(InternalError, "Internal error occured during Mission Item communication: _ackTimeOut:_retryAck == AckNone");
Don Gagne's avatar
Don Gagne committed
169 170 171
        return;
    }
    
172 173
    _sendError(AckTimeoutError, QString("Vehicle did not respond to mission item communication: %1").arg(_ackTypeToString(timedOutAck)));
    _finishTransaction(false);
Don Gagne's avatar
Don Gagne committed
174 175
}

176
void MissionManager::_startAckTimeout(AckType_t ack)
Don Gagne's avatar
Don Gagne committed
177 178 179 180 181 182 183
{
    _retryAck = ack;
    _ackTimeoutTimer->start();
}

bool MissionManager::_stopAckTimeout(AckType_t expectedAck)
{
184 185 186 187
    bool        success = false;
    AckType_t   savedRetryAck = _retryAck;
    
    _retryAck = AckNone;
Don Gagne's avatar
Don Gagne committed
188 189 190
    
    _ackTimeoutTimer->stop();
    
191
    if (savedRetryAck != expectedAck) {
192 193 194 195 196 197 198
        if (savedRetryAck == AckNone) {
            // Don't annoy the user with warnings about unexpected mission commands, just ignore them; ArduPilot updates home position using
            // spurious MISSION_ITEMs.
        } else {
            _sendError(ProtocolOrderError, QString("Vehicle responded incorrectly to mission item protocol sequence: %1:%2").arg(_ackTypeToString(savedRetryAck)).arg(_ackTypeToString(expectedAck)));
            _finishTransaction(false);
        }
Don Gagne's avatar
Don Gagne committed
199 200 201 202 203 204 205 206
        success = false;
    } else {
        success = true;
    }
    
    return success;
}

207
void MissionManager::_readTransactionComplete(void)
Don Gagne's avatar
Don Gagne committed
208
{
209
    qCDebug(MissionManagerLog) << "_readTransactionComplete read sequence complete";
Don Gagne's avatar
Don Gagne committed
210 211 212 213 214 215 216 217
    
    mavlink_message_t       message;
    mavlink_mission_ack_t   missionAck;
    
    missionAck.target_system =      _vehicle->id();
    missionAck.target_component =   MAV_COMP_ID_MISSIONPLANNER;
    missionAck.type =               MAV_MISSION_ACCEPTED;
    
218
    mavlink_msg_mission_ack_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &missionAck);
Don Gagne's avatar
Don Gagne committed
219
    
220 221
    _vehicle->sendMessageOnLink(_dedicatedLink, message);

222
    _finishTransaction(true);
Don Gagne's avatar
Don Gagne committed
223
    emit newMissionItemsAvailable();
Don Gagne's avatar
Don Gagne committed
224 225 226 227 228 229 230 231 232 233 234
}

void MissionManager::_handleMissionCount(const mavlink_message_t& message)
{
    mavlink_mission_count_t missionCount;
    
    if (!_stopAckTimeout(AckMissionCount)) {
        return;
    }
    
    mavlink_msg_mission_count_decode(&message, &missionCount);
235 236 237
    qCDebug(MissionManagerLog) << "_handleMissionCount count:" << missionCount.count;

    if (missionCount.count == 0) {
238
        _readTransactionComplete();
Don Gagne's avatar
Don Gagne committed
239
    } else {
240 241 242 243 244
        // Prime read list
        for (int i=0; i<missionCount.count; i++) {
            _itemIndicesToRead << i;
        }
        _requestNextMissionItem();
Don Gagne's avatar
Don Gagne committed
245 246 247
    }
}

248
void MissionManager::_requestNextMissionItem(void)
Don Gagne's avatar
Don Gagne committed
249
{
250 251 252 253
    qCDebug(MissionManagerLog) << "_requestNextMissionItem sequenceNumber:" << _itemIndicesToRead[0];

    if (_itemIndicesToRead.count() == 0) {
        _sendError(InternalError, "Internal Error: Call to Vehicle _requestNextMissionItem with no more indices to read");
Don Gagne's avatar
Don Gagne committed
254 255 256 257 258 259 260 261
        return;
    }
    
    mavlink_message_t           message;
    mavlink_mission_request_t   missionRequest;
    
    missionRequest.target_system =      _vehicle->id();
    missionRequest.target_component =   MAV_COMP_ID_MISSIONPLANNER;
262
    missionRequest.seq =                _itemIndicesToRead[0];
Don Gagne's avatar
Don Gagne committed
263
    
264
    mavlink_msg_mission_request_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &missionRequest);
Don Gagne's avatar
Don Gagne committed
265
    
266
    _vehicle->sendMessageOnLink(_dedicatedLink, message);
267
    _startAckTimeout(AckMissionItem);
Don Gagne's avatar
Don Gagne committed
268 269 270 271 272 273 274 275 276 277 278 279 280 281
}

void MissionManager::_handleMissionItem(const mavlink_message_t& message)
{
    mavlink_mission_item_t missionItem;
    
    if (!_stopAckTimeout(AckMissionItem)) {
        return;
    }
    
    mavlink_msg_mission_item_decode(&message, &missionItem);
    
    qCDebug(MissionManagerLog) << "_handleMissionItem sequenceNumber:" << missionItem.seq;
    
282 283 284 285
    if (_itemIndicesToRead.contains(missionItem.seq)) {
        _requestItemRetryCount = 0;
        _itemIndicesToRead.removeOne(missionItem.seq);

286
        MissionItem* item = new MissionItem(missionItem.seq,
287 288 289 290 291 292 293 294 295 296 297 298
                                            (MAV_CMD)missionItem.command,
                                            (MAV_FRAME)missionItem.frame,
                                            missionItem.param1,
                                            missionItem.param2,
                                            missionItem.param3,
                                            missionItem.param4,
                                            missionItem.x,
                                            missionItem.y,
                                            missionItem.z,
                                            missionItem.autocontinue,
                                            missionItem.current,
                                            this);
Don Gagne's avatar
Don Gagne committed
299

Don Gagne's avatar
Don Gagne committed
300
        if (item->command() == MAV_CMD_DO_JUMP && !_vehicle->firmwarePlugin()->sendHomePositionToVehicle()) {
Don Gagne's avatar
Don Gagne committed
301 302 303 304
            // Home is in position 0
            item->setParam1((int)item->param1() + 1);
        }

305 306 307 308 309 310 311
        _missionItems.append(item);
    } else {
        qCDebug(MissionManagerLog) << "_handleMissionItem mission item received item index which was not requested, disregrarding:" << missionItem.seq;
        if (++_requestItemRetryCount > _maxRetryCount) {
            _sendError(RequestRangeError, QString("Vehicle would not send item %1 after max retries. Read from Vehicle failed.").arg(_itemIndicesToRead[0]));
            _finishTransaction(false);
            return;
312
        }
Don Gagne's avatar
Don Gagne committed
313
    }
314 315
    
    if (_itemIndicesToRead.count() == 0) {
316
        _readTransactionComplete();
Don Gagne's avatar
Don Gagne committed
317
    } else {
318
        _requestNextMissionItem();
Don Gagne's avatar
Don Gagne committed
319 320 321 322 323
    }
}

void MissionManager::_clearMissionItems(void)
{
324
    _itemIndicesToRead.clear();
Don Gagne's avatar
Don Gagne committed
325 326 327 328 329 330 331 332 333 334 335 336 337 338 339
    _missionItems.clear();
}

void MissionManager::_handleMissionRequest(const mavlink_message_t& message)
{
    mavlink_mission_request_t missionRequest;
    
    if (!_stopAckTimeout(AckMissionRequest)) {
        return;
    }
    
    mavlink_msg_mission_request_decode(&message, &missionRequest);
    
    qCDebug(MissionManagerLog) << "_handleMissionRequest sequenceNumber:" << missionRequest.seq;
    
340 341 342 343 344 345 346
    if (!_itemIndicesToWrite.contains(missionRequest.seq)) {
        if (missionRequest.seq > _missionItems.count()) {
            _sendError(RequestRangeError, QString("Vehicle requested item outside range, count:request %1:%2. Send to Vehicle failed.").arg(_missionItems.count()).arg(missionRequest.seq));
            _finishTransaction(false);
            return;
        } else {
            qCDebug(MissionManagerLog) << "_handleMissionRequest sequence number requested which has already been sent, sending again:" << missionRequest.seq;
347
        }
348 349
    } else {
        _itemIndicesToWrite.removeOne(missionRequest.seq);
Don Gagne's avatar
Don Gagne committed
350 351 352 353 354
    }
    
    mavlink_message_t       messageOut;
    mavlink_mission_item_t  missionItem;
    
355
    MissionItem* item = _missionItems[missionRequest.seq];
Don Gagne's avatar
Don Gagne committed
356 357 358 359 360 361 362 363 364
    
    missionItem.target_system =     _vehicle->id();
    missionItem.target_component =  MAV_COMP_ID_MISSIONPLANNER;
    missionItem.seq =               missionRequest.seq;
    missionItem.command =           item->command();
    missionItem.param1 =            item->param1();
    missionItem.param2 =            item->param2();
    missionItem.param3 =            item->param3();
    missionItem.param4 =            item->param4();
365 366 367
    missionItem.x =                 item->param5();
    missionItem.y =                 item->param6();
    missionItem.z =                 item->param7();
Don Gagne's avatar
Don Gagne committed
368 369 370 371
    missionItem.frame =             item->frame();
    missionItem.current =           missionRequest.seq == 0;
    missionItem.autocontinue =      item->autoContinue();
    
372
    mavlink_msg_mission_item_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &messageOut, &missionItem);
Don Gagne's avatar
Don Gagne committed
373
    
374
    _vehicle->sendMessageOnLink(_dedicatedLink, messageOut);
375
    _startAckTimeout(AckMissionRequest);
Don Gagne's avatar
Don Gagne committed
376 377 378 379 380 381
}

void MissionManager::_handleMissionAck(const mavlink_message_t& message)
{
    mavlink_mission_ack_t missionAck;
    
DonLakeFlyer's avatar
DonLakeFlyer committed
382
    // Save the retry ack before calling _stopAckTimeout since we'll need it to determine what
383 384 385 386 387 388 389
    // type of a protocol sequence we are in.
    AckType_t savedRetryAck = _retryAck;
    
    // We can get a MISSION_ACK with an error at any time, so if the Acks don't match it is not
    // a protocol sequence error. Call _stopAckTimeout with _retryAck so it will succeed no
    // matter what.
    if (!_stopAckTimeout(_retryAck)) {
Don Gagne's avatar
Don Gagne committed
390 391 392 393 394
        return;
    }
    
    mavlink_msg_mission_ack_decode(&message, &missionAck);
    
Don Gagne's avatar
Don Gagne committed
395
    qCDebug(MissionManagerLog) << "_handleMissionAck type:" << _missionResultToString((MAV_MISSION_RESULT)missionAck.type);
396 397 398 399

    switch (savedRetryAck) {
        case AckNone:
            // State machine is idle. Vehicle is confused.
Don Gagne's avatar
Don Gagne committed
400
            _sendError(VehicleError, QString("Vehicle sent unexpected MISSION_ACK message, error: %1").arg(_missionResultToString((MAV_MISSION_RESULT)missionAck.type)));
401 402 403
            break;
        case AckMissionCount:
            // MISSION_COUNT message expected
404 405
            _sendError(VehicleError, QString("Vehicle returned error: %1.").arg(_missionResultToString((MAV_MISSION_RESULT)missionAck.type)));
            _finishTransaction(false);
406 407 408
            break;
        case AckMissionItem:
            // MISSION_ITEM expected
409 410
            _sendError(VehicleError, QString("Vehicle returned error: %1. Partial list of mission items may have been returned.").arg(_missionResultToString((MAV_MISSION_RESULT)missionAck.type)));
            _finishTransaction(false);
411 412 413 414
            break;
        case AckMissionRequest:
            // MISSION_REQUEST is expected, or MISSION_ACK to end sequence
            if (missionAck.type == MAV_MISSION_ACCEPTED) {
415
                if (_itemIndicesToWrite.count() == 0) {
416
                    qCDebug(MissionManagerLog) << "_handleMissionAck write sequence complete";
417
                    _finishTransaction(true);
418
                } else {
419 420
                    _sendError(MissingRequestsError, QString("Vehicle did not request all items during write sequence, missed count %1. Vehicle only has partial list of mission items.").arg(_itemIndicesToWrite.count()));
                    _finishTransaction(false);
421 422
                }
            } else {
423 424
                _sendError(VehicleError, QString("Vehicle returned error: %1. Vehicle only has partial list of mission items.").arg(_missionResultToString((MAV_MISSION_RESULT)missionAck.type)));
                _finishTransaction(false);
425 426
            }
            break;
Don Gagne's avatar
Don Gagne committed
427 428 429 430 431 432 433 434 435 436
        case AckGuidedItem:
            // MISSION_REQUEST is expected, or MISSION_ACK to end sequence
            if (missionAck.type == MAV_MISSION_ACCEPTED) {
                qCDebug(MissionManagerLog) << "_handleMissionAck guide mode item accepted";
                _finishTransaction(true);
            } else {
                _sendError(VehicleError, QString("Vehicle returned error: %1. Vehicle did not accept guided item.").arg(_missionResultToString((MAV_MISSION_RESULT)missionAck.type)));
                _finishTransaction(false);
            }
            break;
Don Gagne's avatar
Don Gagne committed
437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464
    }
}

/// Called when a new mavlink message for out vehicle is received
void MissionManager::_mavlinkMessageReceived(const mavlink_message_t& message)
{
    switch (message.msgid) {
        case MAVLINK_MSG_ID_MISSION_COUNT:
            _handleMissionCount(message);
            break;

        case MAVLINK_MSG_ID_MISSION_ITEM:
            _handleMissionItem(message);
            break;
            
        case MAVLINK_MSG_ID_MISSION_REQUEST:
            _handleMissionRequest(message);
            break;
            
        case MAVLINK_MSG_ID_MISSION_ACK:
            _handleMissionAck(message);
            break;
            
        case MAVLINK_MSG_ID_MISSION_ITEM_REACHED:
            // FIXME: NYI
            break;
            
        case MAVLINK_MSG_ID_MISSION_CURRENT:
465
            _handleMissionCurrent(message);
Don Gagne's avatar
Don Gagne committed
466 467 468 469
            break;
    }
}

470 471
void MissionManager::_sendError(ErrorCode_t errorCode, const QString& errorMsg)
{
472
    qCDebug(MissionManagerLog) << "Sending error" << errorCode << errorMsg;
473

474
    emit error(errorCode, errorMsg);
475
}
Don Gagne's avatar
Don Gagne committed
476 477 478 479

QString MissionManager::_ackTypeToString(AckType_t ackType)
{
    switch (ackType) {
Don Gagne's avatar
Don Gagne committed
480
        case AckNone:
Don Gagne's avatar
Don Gagne committed
481
            return QString("No Ack");
Don Gagne's avatar
Don Gagne committed
482
        case AckMissionCount:
Don Gagne's avatar
Don Gagne committed
483
            return QString("MISSION_COUNT");
Don Gagne's avatar
Don Gagne committed
484
        case AckMissionItem:
Don Gagne's avatar
Don Gagne committed
485
            return QString("MISSION_ITEM");
Don Gagne's avatar
Don Gagne committed
486
        case AckMissionRequest:
Don Gagne's avatar
Don Gagne committed
487
            return QString("MISSION_REQUEST");
Don Gagne's avatar
Don Gagne committed
488 489
        case AckGuidedItem:
            return QString("Guided Mode Item");
Don Gagne's avatar
Don Gagne committed
490 491
        default:
            qWarning(MissionManagerLog) << "Fell off end of switch statement";
Don Gagne's avatar
Don Gagne committed
492
            return QString("QGC Internal Error");
Don Gagne's avatar
Don Gagne committed
493
    }    
Don Gagne's avatar
Don Gagne committed
494
}
Don Gagne's avatar
Don Gagne committed
495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547

QString MissionManager::_missionResultToString(MAV_MISSION_RESULT result)
{
    switch (result) {
        case MAV_MISSION_ACCEPTED:
            return QString("Mission accepted (MAV_MISSION_ACCEPTED)");
            break;
        case MAV_MISSION_ERROR:
            return QString("Unspecified error (MAV_MISSION_ERROR)");
            break;
        case MAV_MISSION_UNSUPPORTED_FRAME:
            return QString("Coordinate frame is not supported (MAV_MISSION_UNSUPPORTED_FRAME)");
            break;
        case MAV_MISSION_UNSUPPORTED:
            return QString("Command is not supported (MAV_MISSION_UNSUPPORTED)");
            break;
        case MAV_MISSION_NO_SPACE:
            return QString("Mission item exceeds storage space (MAV_MISSION_NO_SPACE)");
            break;
        case MAV_MISSION_INVALID:
            return QString("One of the parameters has an invalid value (MAV_MISSION_INVALID)");
            break;
        case MAV_MISSION_INVALID_PARAM1:
            return QString("Param1 has an invalid value (MAV_MISSION_INVALID_PARAM1)");
            break;
        case MAV_MISSION_INVALID_PARAM2:
            return QString("Param2 has an invalid value (MAV_MISSION_INVALID_PARAM2)");
            break;
        case MAV_MISSION_INVALID_PARAM3:
            return QString("param3 has an invalid value (MAV_MISSION_INVALID_PARAM3)");
            break;
        case MAV_MISSION_INVALID_PARAM4:
            return QString("Param4 has an invalid value (MAV_MISSION_INVALID_PARAM4)");
            break;
        case MAV_MISSION_INVALID_PARAM5_X:
            return QString("X/Param5 has an invalid value (MAV_MISSION_INVALID_PARAM5_X)");
            break;
        case MAV_MISSION_INVALID_PARAM6_Y:
            return QString("Y/Param6 has an invalid value (MAV_MISSION_INVALID_PARAM6_Y)");
            break;
        case MAV_MISSION_INVALID_PARAM7:
            return QString("Param7 has an invalid value (MAV_MISSION_INVALID_PARAM7)");
            break;
        case MAV_MISSION_INVALID_SEQUENCE:
            return QString("Received mission item out of sequence (MAV_MISSION_INVALID_SEQUENCE)");
            break;
        case MAV_MISSION_DENIED:
            return QString("Not accepting any mission commands (MAV_MISSION_DENIED)");
            break;
        default:
            qWarning(MissionManagerLog) << "Fell off end of switch statement";
            return QString("QGC Internal Error");
    }
548
}
549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569

void MissionManager::_finishTransaction(bool success)
{
    if (!success && _readTransactionInProgress) {
        // Read from vehicle failed, clear partial list
        _missionItems.clear();
        emit newMissionItemsAvailable();
    }

    _readTransactionInProgress = false;
    _writeTransactionInProgress = false;
    _itemIndicesToRead.clear();
    _itemIndicesToWrite.clear();

    emit inProgressChanged(false);
}

bool MissionManager::inProgress(void)
{
    return _readTransactionInProgress || _writeTransactionInProgress;
}
570 571 572 573 574 575 576 577 578 579 580 581 582

void MissionManager::_handleMissionCurrent(const mavlink_message_t& message)
{
    mavlink_mission_current_t missionCurrent;

    mavlink_msg_mission_current_decode(&message, &missionCurrent);

    qCDebug(MissionManagerLog) << "_handleMissionCurrent seq:" << missionCurrent.seq;
    if (missionCurrent.seq != _currentMissionItem) {
        _currentMissionItem = missionCurrent.seq;
        emit currentItemChanged(_currentMissionItem);
    }
}