MAVLink: in-flight mission upload (10.x, test build) - #2
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MAVLink: in-flight mission upload (10.x, test build)#2raphaelhunziker1202-stack wants to merge 1 commit into
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… not being executed Aligns the MAVLink mission path with the MSP policy introduced in iNavFlight#10273, where setWaypoint() accepts mission uploads while armed as long as the WP mission is not actively being flown. The MAVLink handlers denied every mission transfer and clear outright while armed. Changes: - New mavlinkMissionEditBlocked() gate used by MISSION_COUNT, MISSION_CLEAR_ALL, MISSION_ITEM and MISSION_ITEM_INT: edits are refused while armed AND (WP mode active OR the mission's own RTH leg is running OR the on-the-fly mission planner is active). The RTH-leg term protects the land/loiter decision at home, which reads the live list; the planner term prevents two writers on the same list. The ARMED term keeps the disarmed path provably unchanged. - When the refused sender owns the receiving transfer, the transfer is aborted via mavlinkAbortMissionUpload(MAV_MISSION_DENIED) so the retry engine stops soliciting items from a partner that was just denied. - Guided fly-to-here / altitude-target items are now dispatched on the item itself (NAV_WAYPOINT with current == 2 or 3) instead of on transfer state, so a guided click can never be absorbed into a running upload. - mavlinkCommitMissionUpload() / mavlinkClearPersistedMission(): while armed the commit or clear applies to RAM only and skips persistence - saveNonVolatileWaypointList() refuses to run while armed, and a flash write mid-flight would stall the main loop. The uploaded mission survives disarm but not a reboot; persisting after landing remains the GCS's responsibility. An in-flight upload also collapses a loaded multi-mission set to the uploaded mission for the rest of the session. - mavlinkResolveUploadedMissionJumps(): armed commits now enforce the same JUMP rules as the arm-time validation they bypass (no JUMP as first item, no self/adjacent targets, sane repeat count, geo-referenced target). Ground uploads are left to the arm-time check. - navigation.c: setWaypoint()'s post-upload clamp of activeWaypointIndex uses >= instead of > (the index is 0-based, so index == waypointCount is already out of range); new public isWpMissionPlannerActive() accessor. - Unit tests: the old MissionCountWhileArmedIsRejected asserts the new policy as MissionCountWhileArmedStartsTransfer; new tests cover the WP-mode and mission-RTH rejections, RAM-only armed commit and clear (persist not called), and the preserved clear rejection during WP mode. The staged upload buffer with atomic commit and snapshot rollback means an in-flight upload never exposes a partially written list to the navigation state machine within a main-loop tick. Note the deliberate MSP-parity semantics carried over from iNavFlight#10273: with nav_wp_mission_restart = RESUME, replacing the mission mid-flight keeps the waypoint index when the new mission is at least as long as the index.
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RAM / Flash usage vs. base branch — commit
See RAM/flash optimization guide for techniques to reduce usage. |
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Fork-internal PR to run CI (SITL builds + unit tests) for the 10.x variant of the in-flight MAVLink mission upload patch. See commit message.