Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Added mission checksum message #1172

Closed
wants to merge 15 commits into from
Closed

Added mission checksum message #1172

Changes from 14 commits
Commits
Show all changes
15 commits
Select commit Hold shift + click to select a range
de1c349
Added mission checksum message
holmnikolaj Jul 4, 2019
5e10d2f
Add MISSION_UID message and corresponding mission item and capability…
prebenfihl Jul 9, 2019
9d9f679
Merge branch 'master' into mission_checksum
prebenfihl Jul 9, 2019
94df995
Merge pull request #1 from mavlink/master
holmnikolaj Jul 10, 2019
172d6a0
Remove MAV_CMD_MISSION_UID
hamishwillee Dec 9, 2020
a45296f
Update message definition.
hamishwillee Dec 9, 2020
533d979
Change hash to CRC32 and clarify algorithm
hamishwillee Dec 10, 2020
3e367dc
Update message_definitions/v1.0/common.xml
hamishwillee Dec 16, 2020
58e5b95
Update message_definitions/v1.0/common.xml
hamishwillee Dec 16, 2020
2247de0
Update message_definitions/v1.0/common.xml
hamishwillee Dec 16, 2020
027b677
Update message_definitions/v1.0/common.xml
hamishwillee Dec 16, 2020
811ffbc
Update message_definitions/v1.0/common.xml
hamishwillee Dec 16, 2020
cea5c1a
plan type > mission type (consistency)
hamishwillee Dec 16, 2020
1ca7952
Merge branch 'master' into mission_checksum
holmnikolaj Dec 16, 2020
5d9ee74
Remove protocol bit
hamishwillee Dec 28, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
17 changes: 17 additions & 0 deletions message_definitions/v1.0/common.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2786,6 +2786,9 @@
<entry value="65536" name="MAV_PROTOCOL_CAPABILITY_FLIGHT_INFORMATION">
<description>Autopilot supports the flight information protocol.</description>
</entry>
<entry value="131072‬" name="MAV_PROTOCOL_CAPABILITY_MISSION_CHECKSUM">
hamishwillee marked this conversation as resolved.
Show resolved Hide resolved
<description>Autopilot supports mission checksum.</description>
</entry>
</enum>
<enum name="MAV_MISSION_TYPE">
<description>Type of mission items being requested/sent in mission protocol.</description>
Expand Down Expand Up @@ -4709,6 +4712,20 @@
<field type="uint8_t" name="origin_compid" enum="MAV_COMPONENT">Compnent ID of the author of the new mission.</field>
<field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
</message>
<message id="53" name="MISSION_CHECKSUM">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Checksum for the current mission, rally points or geofence plan (a GCS can use this checksum to determine if it has a matching plan definition).
This message must be broadcast following any change to a plan (immediately after the MISSION_ACK that completes the plan upload sequence).
It may also be requested using MAV_CMD_REQUEST_MESSAGE, where param 2 indicates the plan type for which the hash is required.
The checksum must be calculated on the autopilot, but may also be calculated by the GCS.
The checksum uses the same CRC32 algorithm as MAVLink FTP (https://mavlink.io/en/services/ftp.html#crc32-implementation).
It is run over each item in the plan in seq order (excluding the home location if present in the plan), and covers the following fields (in order):
frame, command, autocontinue, param1, param2, param3, param4, param5, param6, param7.
</description>
<field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
<field type="uint32_t" name="checksum">CRC32 checksum of current plan for specified type.</field>
</message>
<message id="54" name="SAFETY_SET_ALLOWED_AREA">
<description>Set a safety zone (volume), which is defined by two corners of a cube. This message can be used to tell the MAV which setpoints/waypoints to accept and which to reject. Safety areas are often enforced by national or competition regulations.</description>
<field type="uint8_t" name="target_system">System ID</field>
Expand Down