Merge pull request #2769 from DonLakeFlyer/MissionCommands

Add missing mission commands for PX4 and ArduPilot stacks

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -483,8 +483,8 @@ QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(void)
 {
     QList<MAV_CMD> list;
 
-    list << MAV_CMD_NAV_WAYPOINT
-         << MAV_CMD_NAV_LOITER_UNLIM << MAV_CMD_NAV_LOITER_TURNS << MAV_CMD_NAV_LOITER_TIME
+    list << MAV_CMD_NAV_WAYPOINT << MAV_CMD_NAV_SPLINE_WAYPOINT
+         << MAV_CMD_NAV_LOITER_UNLIM << MAV_CMD_NAV_LOITER_TURNS << MAV_CMD_NAV_LOITER_TIME << MAV_CMD_NAV_LOITER_TO_ALT
          << MAV_CMD_NAV_RETURN_TO_LAUNCH << MAV_CMD_NAV_LAND << MAV_CMD_NAV_TAKEOFF
          << MAV_CMD_NAV_GUIDED_ENABLE
          << MAV_CMD_DO_SET_ROI << MAV_CMD_DO_GUIDED_LIMITS << MAV_CMD_DO_JUMP << MAV_CMD_DO_CHANGE_SPEED << MAV_CMD_DO_SET_CAM_TRIGG_DIST
@@ -492,7 +492,13 @@ QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(void)
          << MAV_CMD_DO_SET_SERVO << MAV_CMD_DO_REPEAT_SERVO
          << MAV_CMD_DO_DIGICAM_CONFIGURE << MAV_CMD_DO_DIGICAM_CONTROL
          << MAV_CMD_DO_MOUNT_CONTROL
-         << MAV_CMD_CONDITION_DELAY  << MAV_CMD_CONDITION_CHANGE_ALT << MAV_CMD_CONDITION_DISTANCE << MAV_CMD_CONDITION_YAW;
+         << MAV_CMD_DO_SET_HOME
+         << MAV_CMD_DO_LAND_START
+         << MAV_CMD_DO_FENCE_ENABLE << MAV_CMD_DO_PARACHUTE << MAV_CMD_DO_INVERTED_FLIGHT << MAV_CMD_DO_GRIPPER
+         << MAV_CMD_CONDITION_DELAY  << MAV_CMD_CONDITION_CHANGE_ALT << MAV_CMD_CONDITION_DISTANCE << MAV_CMD_CONDITION_YAW
+         << MAV_CMD_NAV_VTOL_TAKEOFF << MAV_CMD_NAV_VTOL_LAND
+         << MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT;
+
     return list;
 }
 

src/FirmwarePlugin/APM/MavCmdInfoCommon.json

@@ -16,6 +16,24 @@
                 "default":          0.26179939,
                 "decimalPlaces":    2
             }
+        },
+        {
+            "id":                   84,
+            "rawName":              "MAV_CMD_NAV_VTOL_TAKEOFF",
+            "friendlyName":         "VTOL takeoff",
+            "description":          "Takeoff from ground using VTOL mode.",
+            "specifiesCoordinate":  true,
+            "friendlyEdit":         true,
+            "category":             "VTOL"
+        },
+        {
+            "id":                   85,
+            "rawName":              "MAV_CMD_NAV_VTOL_LAND",
+            "friendlyName":         "VTOL land",
+            "description":          "Land using VTOL mode.",
+            "specifiesCoordinate":  true,
+            "friendlyEdit":         true,
+            "category":             "VTOL"
         }
     ]
 }

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -215,14 +215,15 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
 
     list << MAV_CMD_NAV_WAYPOINT
          << MAV_CMD_NAV_LOITER_UNLIM << MAV_CMD_NAV_LOITER_TIME
-         << MAV_CMD_NAV_RETURN_TO_LAUNCH << MAV_CMD_NAV_LAND << MAV_CMD_NAV_TAKEOFF
+         << MAV_CMD_NAV_LAND << MAV_CMD_NAV_TAKEOFF
          << MAV_CMD_NAV_ROI
          << MAV_CMD_DO_JUMP
          << MAV_CMD_CONDITION_DELAY
-         << MAV_CMD_DO_VTOL_TRANSITION
+         << MAV_CMD_DO_VTOL_TRANSITION << MAV_CMD_NAV_VTOL_TAKEOFF << MAV_CMD_NAV_VTOL_LAND
          << MAV_CMD_DO_DIGICAM_CONTROL
          << MAV_CMD_DO_SET_SERVO
-         << MAV_CMD_DO_CHANGE_SPEED;
+         << MAV_CMD_DO_CHANGE_SPEED
+         << MAV_CMD_NAV_PATHPLANNING;
     return list;
 }
 

src/MissionManager/MissionCommands.cc

@@ -77,10 +77,14 @@ void MissionCommands::_createCategories(void)
         foreach (MAV_CMD command, cmdList) {
             MavCmdInfo* mavCmdInfo = _commonMissionCommands.getMavCmdInfo(command);
 
-            if (mavCmdInfo->friendlyEdit()) {
-                _categoryToMavCmdListMap[firmwareType][mavCmdInfo->category()].append(command);
-            } else if (!allCommandsSupported) {
-                qWarning() << "Attempt to add non friendly edit supported command";
+            if (mavCmdInfo) {
+                if (mavCmdInfo->friendlyEdit()) {
+                    _categoryToMavCmdListMap[firmwareType][mavCmdInfo->category()].append(command);
+                } else if (!allCommandsSupported) {
+                    qWarning() << "Attempt to add non friendly edit supported command" << command;
+                }
+            } else {
+                qCDebug(MissionCommandsLog) << "Command missing from json" << command;
             }
         }
     }