mavlink-mission: Add support for opaque ids and replace update counte…

…r with it

msg/Mission.msg

@@ -7,6 +7,6 @@ int32 current_seq	# default -1, start at the one changed latest
 int32 land_start_index  # Index of the land start marker, if unavailable index of the land item, -1 otherwise
 int32 land_index 	# Index of the land item, -1 otherwise
 
-uint16 mission_update_counter # indicates updates to the mission, reload from dataman if increased
-uint16 geofence_update_counter # indicates updates to the geofence, reload from dataman if increased
-uint16 safe_points_update_counter # indicates updates to the safe points, reload from dataman if increased
+uint32 mission_id # indicates updates to the mission, reload from dataman if changed
+uint32 geofence_id # indicates updates to the geofence, reload from dataman if changed
+uint32 safe_points_id # indicates updates to the safe points, reload from dataman if changed

msg/MissionResult.msg

@@ -1,7 +1,7 @@
-uint64 timestamp				# time since system start (microseconds)
+uint64 timestamp		# time since system start (microseconds)
 
-uint16 mission_update_counter   # Counter for the mission for which the result was generated
-uint16 geofence_update_counter  # Counter for the corresponding geofence for which the result was generated (used for mission feasibility)
+uint16 mission_id   		# Id for the mission for which the result was generated
+uint16 geofence_id  		# Id for the corresponding geofence for which the result was generated (used for mission feasibility)
 uint64 home_position_counter  	# Counter of the home position for which the result was generated (used for mission feasibility)
 
 int32 seq_reached		# Sequence of the mission item which has been reached, default -1

src/modules/commander/Commander.cpp

@@ -1935,19 +1935,19 @@ void Commander::checkForMissionUpdate()
 	if (_mission_result_sub.updated()) {
 		const mission_result_s &mission_result = _mission_result_sub.get();
 
-		const auto prev_mission_mission_update_counter = mission_result.mission_update_counter;
+		const auto prev_mission_mission_id = mission_result.mission_id;
 		_mission_result_sub.update();
 
 		// if mission_result is valid for the current mission
 		const bool mission_result_ok = (mission_result.timestamp > _boot_timestamp)
-					       && (mission_result.mission_update_counter > 0);
+					       && (mission_result.mission_id > 0);
 
 		bool auto_mission_available = mission_result_ok && mission_result.valid;
 
 		if (mission_result_ok) {
 			/* Only evaluate mission state if home is set */
 			if (!_failsafe_flags.home_position_invalid &&
-			    (prev_mission_mission_update_counter != mission_result.mission_update_counter)) {
+			    (prev_mission_mission_id != mission_result.mission_id)) {
 
 				if (!auto_mission_available) {
 					/* the mission is invalid */

src/modules/commander/HealthAndArmingChecks/checks/missionCheck.cpp

@@ -56,6 +56,6 @@ void MissionChecks::checkAndReport(const Context &context, Report &reporter)
 		}
 
 		// This is a mode requirement, no need to report
-		reporter.failsafeFlags().auto_mission_missing = mission_result.mission_update_counter <= 0;
+		reporter.failsafeFlags().auto_mission_missing = mission_result.mission_id <= 0;
 	}
 }

src/modules/dataman/dataman.cpp

@@ -574,10 +574,13 @@ _file_initialize(unsigned max_offset)
 		mission.dataman_id = DM_KEY_WAYPOINTS_OFFBOARD_0;
 		mission.count = 0;
 		mission.current_seq = 0;
+		mission.mission_id = 0u;
+		mission.geofence_id = 0u;
+		mission.safe_points_id = 0u;
 
 		mission_stats_entry_s stats;
 		stats.num_items = 0;
-		stats.update_counter = 1;
+		stats.opaque_id = 0;
 
 		g_dm_ops->write(DM_KEY_MISSION_STATE, 0, reinterpret_cast<uint8_t *>(&mission), sizeof(mission_s));
 		g_dm_ops->write(DM_KEY_FENCE_POINTS, 0, reinterpret_cast<uint8_t *>(&stats), sizeof(mission_stats_entry_s));