Merge pull request #2325 from mavlink/pr-mission-changed

mission_raw: implement mission changed based on opaque ID

.github/workflows/main.yml

@@ -283,7 +283,7 @@ jobs:
     container: alpine:3.19.0
     steps:
       - name: install tools
-        run: apk update && apk add build-base cmake git linux-headers perl tar python3 py3-pip
+        run: apk update && apk add build-base cmake git linux-headers perl tar python3 py3-pip rust cargo
       - uses: actions/checkout@v4
         with:
           submodules: recursive

src/mavsdk/plugins/mission_raw/mission_raw_impl.cpp

@@ -79,11 +79,17 @@ void MissionRawImpl::process_mission_ack(const mavlink_message_t& message)
         return;
     }
 
-    // We assume that if the vehicle sends an ACCEPTED ack might have received
-    // a new mission. In that case we need to notify our user.
-    std::lock_guard<std::mutex> lock(_mission_changed.mutex);
-    _mission_changed.callbacks.queue(
-        true, [this](const auto& func) { _system_impl->call_user_callback(func); });
+    // We assume that if the vehicle sends an ACCEPTED ack, we might have received
+    // a new mission. In that case we can notify our user.
+    // However, with the (opaque) mission_id, we can determine this properly using
+    // the id. Therefore, we only do the notification if the opaque ID is 0 and
+    // therefore not yet supported. This way we stay backwards compatible with
+    // previous autopilot versions.
+    if (mission_ack.opaque_id == 0) {
+        std::lock_guard<std::mutex> lock(_mission_changed.mutex);
+        _mission_changed.callbacks.queue(
+            true, [this](const auto& func) { _system_impl->call_user_callback(func); });
+    }
 }
 
 void MissionRawImpl::process_mission_current(const mavlink_message_t& message)
@@ -100,6 +106,16 @@ void MissionRawImpl::process_mission_current(const mavlink_message_t& message)
             _mission_progress.last.current = mission_current.seq;
         }
     }
+    {
+        std::lock_guard<std::mutex> lock(_mission_changed.mutex);
+        if (_mission_changed.last_mission_id != mission_current.mission_id) {
+            _mission_changed.last_mission_id = mission_current.mission_id;
+
+            _mission_changed.callbacks.queue(
+                true, [this](const auto& func) { _system_impl->call_user_callback(func); });
+            LogDebug() << "Mission changed";
+        }
+    }
 
     report_progress_current();
 }

src/mavsdk/plugins/mission_raw/mission_raw_impl.h

@@ -125,6 +125,7 @@ class MissionRawImpl : public PluginImplBase {
     struct {
         std::mutex mutex{};
         CallbackList<bool> callbacks{};
+        uint32_t last_mission_id{0};
     } _mission_changed{};
 };
 

third_party/mavlink/CMakeLists.txt

@@ -9,7 +9,7 @@ list(APPEND CMAKE_ARGS
     "-DMAVLINK_DIALECT=${MAVLINK_DIALECT}"
     )
 
-set(MAVLINK_GIT_HASH 9840105a275db1f48f9711d0fb861e8bf77a2245)
+set(MAVLINK_GIT_HASH f1d42e2774cae767a1c0651b0f95e3286c587257)
 
 if(IOS)
     ExternalProject_add(