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common.xml: MISSION_CURRENT progress notification #2029

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common.xml: MISSION_CURRENT progress notification #2029

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83cf607
common.xml: MISSION_CURRENT progress notification
hamishwillee Aug 17, 2023
396f284
Update message_definitions/v1.0/common.xml
hamishwillee Aug 30, 2023
3abcaf7
add delay/condition item comments about progress
hamishwillee Aug 30, 2023
d218bde
nav_waypoint - clarify hold time
hamishwillee Aug 30, 2023
d994cba
Update message_definitions/v1.0/common.xml
hamishwillee Aug 30, 2023
3c8c99d
Update message_definitions/v1.0/common.xml
hamishwillee Aug 30, 2023
6526943
Update common.xml - update following mav call
hamishwillee Aug 30, 2023
c982b15
Apply suggestions from code review
hamishwillee Sep 5, 2023
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33 changes: 27 additions & 6 deletions message_definitions/v1.0/common.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -1082,7 +1082,10 @@
<enum name="MAV_CMD">
<description>Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. NaN and INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current yaw or latitude rather than a specific value). See https://mavlink.io/en/guide/xml_schema.html#MAV_CMD for information about the structure of the MAV_CMD entries</description>
<entry value="16" name="MAV_CMD_NAV_WAYPOINT" hasLocation="true" isDestination="true">
<description>Navigate to waypoint. This is intended for use in missions (for guided commands outside of missions use MAV_CMD_DO_REPOSITION).</description>
<description>Navigate to waypoint. This is intended for use in missions (for guided commands outside of missions use MAV_CMD_DO_REPOSITION).
MISSION_CURRENT may optionally report item_progress_* fields as time (s) or distance (m) when travelling towards waypoint.
MISSION_CURRENT should report item_progress_* fields as time in seconds if holding at waypoint.
</description>
<param index="1" label="Hold" units="s" minValue="0">Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)</param>
<param index="2" label="Accept Radius" units="m" minValue="0">Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)</param>
<param index="3" label="Pass Radius" units="m">0 to pass through the WP, if &gt; 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.</param>
Expand All @@ -1092,7 +1095,9 @@
<param index="7" label="Altitude" units="m">Altitude</param>
</entry>
<entry value="17" name="MAV_CMD_NAV_LOITER_UNLIM" hasLocation="true" isDestination="true">
<description>Loiter around this waypoint an unlimited amount of time</description>
<description>Loiter around this waypoint an unlimited amount of time.
MISSION_CURRENT can report the fields item_progress_* fields as 0.
</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3" label="Radius" units="m">Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise</param>
Expand All @@ -1102,7 +1107,9 @@
<param index="7" label="Altitude" units="m">Altitude</param>
</entry>
<entry value="18" name="MAV_CMD_NAV_LOITER_TURNS" hasLocation="true" isDestination="true">
<description>Loiter around this waypoint for X turns</description>
<description>Loiter around this waypoint for X turns.
MISSION_CURRENT should report the item_progress_* fields as turns/laps.
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</description>
<param index="1" label="Turns" minValue="0">Number of turns.</param>
<param index="2" label="Heading Required" minValue="0" maxValue="1" increment="1">Leave loiter circle only once heading towards the next waypoint (0 = False)</param>
<param index="3" label="Radius" units="m">Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise</param>
Expand All @@ -1112,7 +1119,12 @@
<param index="7" label="Altitude" units="m">Altitude</param>
</entry>
<entry value="19" name="MAV_CMD_NAV_LOITER_TIME" hasLocation="true" isDestination="true">
<description>Loiter at the specified latitude, longitude and altitude for a certain amount of time. Multicopter vehicles stop at the point (within a vehicle-specific acceptance radius). Forward-only moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction. If the Heading Required parameter (2) is non-zero forward moving aircraft will only leave the loiter circle once heading towards the next waypoint.</description>
<description>Loiter at the specified latitude, longitude and altitude for a certain amount of time.
Multicopter vehicles stop at the point (within a vehicle-specific acceptance radius).
Forward-only moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction.
If the Heading Required parameter (2) is non-zero forward moving aircraft will only leave the loiter circle once heading towards the next waypoint.
MISSION_CURRENT should report item_progress_* fields as time in seconds.
</description>
<param index="1" label="Time" units="s" minValue="0">Loiter time (only starts once Lat, Lon and Alt is reached).</param>
<param index="2" label="Heading Required" minValue="0" maxValue="1" increment="1">Leave loiter circle only once heading towards the next waypoint (0 = False)</param>
<param index="3" label="Radius" units="m">Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise.</param>
Expand Down Expand Up @@ -1299,7 +1311,9 @@
<param index="7">Empty</param>
</entry>
<entry value="93" name="MAV_CMD_NAV_DELAY" hasLocation="false" isDestination="false">
<description>Delay the next navigation command a number of seconds or until a specified time</description>
<description>Delay the next navigation command a number of seconds or until a specified time
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MISSION_CURRENT should report item_progress_* fields as time in seconds.
</description>
<param index="1" label="Delay" units="s" minValue="-1" increment="1">Delay (-1 to enable time-of-day fields)</param>
<param index="2" label="Hour" minValue="-1" maxValue="23" increment="1">hour (24h format, UTC, -1 to ignore)</param>
<param index="3" label="Minute" minValue="-1" maxValue="59" increment="1">minute (24h format, UTC, -1 to ignore)</param>
Expand Down Expand Up @@ -1329,7 +1343,9 @@
<param index="7">Empty</param>
</entry>
<entry value="112" name="MAV_CMD_CONDITION_DELAY" hasLocation="false" isDestination="false">
<description>Delay mission state machine.</description>
<description>Delay mission state machine.
MISSION_CURRENT should report item_progress_* fields as time in seconds.
</description>
<param index="1" label="Delay" units="s" minValue="0">Delay</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
Expand Down Expand Up @@ -5283,12 +5299,17 @@
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.
The progress and progress_final field indicate progress through the current mission item from value in progress to value in progress_final.
The progress units, such as distance, time, number of turns, must be defined in the mission item (a GCS can always present them as a percentage).
</description>
<field type="uint16_t" name="seq">Sequence</field>
<extensions/>
<field type="uint16_t" name="total" invalid="UINT16_MAX">Total number of mission items on vehicle (on last item, sequence == total). If the autopilot stores its home location as part of the mission this will be excluded from the total. 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>
<field type="uint8_t" name="item_progress_units">0: not used. 1: distance (m), 2: time (seconds), 3: count (laps)</field>
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Note, to replace with enum if whole strategy agreed.

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<field type="uint16_t" name="item_progress">Progress through current mission item. This is relative to item_progress_final. Units depend on type of current mission item and are specified in item_progress_units. 0 initially and if progress_final is 0.</field>
<field type="uint16_t" name="item_progress_final" invalid="0">The final state that item_progress is expected to reach. 0 if item progress information not used.</field>
</message>
<message id="43" name="MISSION_REQUEST_LIST">
<description>Request the overall list of mission items from the system/component.</description>
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