common: extend MISSION_CURRENT (#1869)

mavlink · Aug 18, 2022 · 76b794c · 76b794c
1 parent 1ae3edc
commit 76b794c
Showing 1 changed file with 34 additions and 1 deletion.
diff --git a/message_definitions/v1.0/common.xml b/message_definitions/v1.0/common.xml
@@ -4859,6 +4859,31 @@
         <description>NAK: NAK response</description>
       </entry>
     </enum>
+    <enum name="MISSION_STATE">
+      <description>
+        States of the mission state machine.
+        Note that these states are independent of whether the mission is in a mode that can execute mission items or not (is suspended).
+        They may not all be relevant on all vehicles.
+      </description>
+      <entry value="0" name="MISSION_STATE_UNKNOWN">
+        <description>The mission status reporting is not supported.</description>
+      </entry>
+      <entry value="1" name="MISSION_STATE_NO_MISSION">
+        <description>No mission on the vehicle.</description>
+      </entry>
+      <entry value="2" name="MISSION_STATE_NOT_STARTED">
+        <description>Mission has not started. This is the case after a mission has uploaded but not yet started executing.</description>
+      </entry>
+      <entry value="3" name="MISSION_STATE_ACTIVE">
+        <description>Mission is active, and will execute mission items when in auto mode.</description>
+      </entry>
+      <entry value="4" name="MISSION_STATE_PAUSED">
+        <description>Mission is paused when in auto mode.</description>
+      </entry>
+      <entry value="5" name="MISSION_STATE_COMPLETE">
+        <description>Mission has executed all mission items.</description>
+      </entry>
+    </enum>
   </enums>
   <messages>
     <message id="1" name="SYS_STATUS">
@@ -5195,8 +5220,16 @@
       <field type="uint16_t" name="seq">Sequence</field>
     </message>
     <message id="42" name="MISSION_CURRENT">
-      <description>Message that announces the sequence number of the current active mission item. The MAV will fly towards this mission item.</description>
+      <description>
+        Message that announces the sequence number of the current target mission item (that the system will fly towards/execute when the mission is running).
+        This message should be streamed all the time (nominally at 1Hz).
+        This message should be emitted following a call to MAV_CMD_DO_SET_MISSION_CURRENT or SET_MISSION_CURRENT.
+      </description>
       <field type="uint16_t" name="seq">Sequence</field>
+      <extensions/>
+      <field type="uint16_t" name="total" invalid="UINT16_MAX">Total number of mission items. 0: Not supported, UINT16_MAX if no mission is present on the vehicle.</field>
+      <field type="uint8_t" name="mission_state" enum="MISSION_STATE" invalid="0">Mission state machine state. MISSION_STATE_UNKNOWN if state reporting not supported.</field>
+      <field type="uint8_t" name="mission_mode" invalid="0">Vehicle is in a mode that can execute mission items or suspended. 0: Unknown, 1: In mission mode, 2: Suspended (not in mission mode).</field>
     </message>
     <message id="43" name="MISSION_REQUEST_LIST">
       <description>Request the overall list of mission items from the system/component.</description>