mavlink_mission: Send MISSION_CURRENT periodically even when no missi…

…on is loaded.
PX4 · Nov 29, 2023 · 42ce9eb · 42ce9eb
1 parent 36f0c0f
commit 42ce9eb
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
@@ -256,6 +256,7 @@ MavlinkMissionManager::send_mission_current(uint16_t seq)
 {
 	mavlink_mission_current_t wpc{};
 	wpc.seq = seq;
+	wpc.total = _count[MAV_MISSION_TYPE_MISSION] > 0 ? _count[MAV_MISSION_TYPE_MISSION] : UINT16_MAX;
 	wpc.mission_id = _crc32[MAV_MISSION_TYPE_MISSION];
 	wpc.fence_id = _crc32[MAV_MISSION_TYPE_FENCE];
 	wpc.rally_points_id = _crc32[MAV_MISSION_TYPE_RALLY];
@@ -516,10 +517,9 @@ MavlinkMissionManager::send()
 		}
 
 	} else if (_slow_rate_limiter.check(hrt_absolute_time())) {
-		if ((_count[MAV_MISSION_TYPE_MISSION] > 0) && (_current_seq >= 0)) {
-
-			send_mission_current(_current_seq);
+		send_mission_current(_current_seq);
 
+		if ((_count[MAV_MISSION_TYPE_MISSION] > 0) && (_current_seq >= 0)) {
 			// send the reached message another 10 times
 			if (_last_reached >= 0 && (_reached_sent_count < 10)) {
 				send_mission_item_reached((uint16_t)_last_reached);

diff --git a/src/modules/mavlink/mavlink_mission.h b/src/modules/mavlink/mavlink_mission.h
@@ -140,7 +140,7 @@ class MavlinkMissionManager
 	int32_t 		_land_start_marker{-1}; 	///< index of loaded land start mission item (if unavailable, index of land mission item, -1 otherwise)
 	int32_t 		_land_marker{-1}; 		///< index of loaded land mission item (-1 if unavailable)
 
-	MavlinkRateLimiter	_slow_rate_limiter{100 * 1000};		///< Rate limit sending of the current WP sequence to 10 Hz
+	MavlinkRateLimiter	_slow_rate_limiter{1000 * 1000};		///< Rate limit sending of the current WP sequence to 1 Hz
 
 	Mavlink *_mavlink;