From 5540a9a93ad6d88877138d79b09fdfd68ccf53a3 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 31 Oct 2024 14:32:51 +0100 Subject: [PATCH 1/3] Mission feasibility checks: improve correctness of docs, escpecially around MIS_DIST_1WP Signed-off-by: Silvan Fuhrer --- en/flight_modes_fw/mission.md | 8 +++++--- en/flight_modes_mc/mission.md | 11 +++++++---- 2 files changed, 12 insertions(+), 7 deletions(-) diff --git a/en/flight_modes_fw/mission.md b/en/flight_modes_fw/mission.md index dedb839eee6e..bf4817635a4f 100644 --- a/en/flight_modes_fw/mission.md +++ b/en/flight_modes_fw/mission.md @@ -76,18 +76,20 @@ For more information about mission planning, see: ## Mission Feasibility Checks -PX4 runs some basic sanity checks to determine if a mission is feasible when it is uploaded, and when the vehicle is first armed. +PX4 runs some basic sanity checks to determine if a mission is feasible when it is uploaded and before executing a mission. If any of the checks fail, the user is notified and it is not possible to start the mission. A subset of the most important checks are listed below: -- First mission item too far away from vehicle ([MIS_DIST_1WP](#MIS_DIST_1WP)) - Any mission item conflicts with a plan or safety geofence - More than one land start mission item defined ([MAV_CMD_DO_LAND_START](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_LAND_START)) - A fixed-wing landing has an infeasible slope angle ([FW_LND_ANG](#FW_LND_ANG)) - Land start item (`MAV_CMD_DO_LAND_START`) appears in mission before an RTL item ([MAV_CMD_NAV_RETURN_TO_LAUNCH](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_RETURN_TO_LAUNCH)) - Missing takeoff and/or land item when these are configured as a requirement ([MIS_TKO_LAND_REQ](#MIS_TKO_LAND_REQ)) +Additionally there is a check if the first waypoint is too far from the Home position ([MIS_DIST_1WP](#MIS_DIST_1WP)). +The user is notified should the check fail, but it has no effect on the validity of a mission plan, meaning that the mission can still be started even if the distance is too high. + ## QGroundControl Support _QGroundControl_ provides additional GCS-level mission handling support (in addition to that provided by the flight controller). @@ -113,7 +115,7 @@ Parameters related to [mission feasibility checks](#mission-feasibility-checks): | Parameter | Description | | ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [MIS_DIST_1WP](../advanced_config/parameter_reference.md#MIS_DIST_1WP) | The mission will not be started if the current waypoint is more distant than this value from the home position. Disabled if value is 0 or less. | +| [MIS_DIST_1WP](../advanced_config/parameter_reference.md#MIS_DIST_1WP) | There is a warning message if the distance of the first waypoint to Home is more than this value. Disabled if value is 0 or less. | | [FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG) | Maximum landing slope angle. | | [MIS_TKO_LAND_REQ](../advanced_config/parameter_reference.md#MIS_TKO_LAND_REQ) | Mission takeoff/landing requirement configuration. FW and VTOL both have it set to 2 by default, which means that the mission has to contain a landing. | diff --git a/en/flight_modes_mc/mission.md b/en/flight_modes_mc/mission.md index a722e5baad89..902e96b38214 100644 --- a/en/flight_modes_mc/mission.md +++ b/en/flight_modes_mc/mission.md @@ -79,13 +79,16 @@ For more information about mission planning, see: ## Mission Feasibility Checks -PX4 runs some basic sanity checks to determine if a mission is feasible when it is uploaded, and when the vehicle is first armed. +PX4 runs some basic sanity checks to determine if a mission is feasible when it is uploaded and before executing a mission. If any of the checks fail, the user is notified and it is not possible to start the mission. A subset of the most important checks are listed below: -- First mission item too far away from vehicle ([MIS_DIST_1WP](#MIS_DIST_1WP)) - Any mission item conflicts with a plan or safety geofence +- Missing takeoff and/or land item when these are configured as a requirement ([MIS_TKO_LAND_REQ](#MIS_TKO_LAND_REQ)) + +Additionally there is a check if the first waypoint is too far from the Home position ([MIS_DIST_1WP](#MIS_DIST_1WP)). +The user is notified should the check fail, but it has no effect on the validity of a mission plan, meaning that the mission can still be started even if the distance is too high. ## QGroundControl Support @@ -113,9 +116,9 @@ Parameters related to [mission feasibility checks](#mission-feasibility-checks): | Parameter | Description | | ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [MIS_DIST_1WP](../advanced_config/parameter_reference.md#MIS_DIST_1WP) | The mission will not be started if the current waypoint is more distant than this value from the home position. Disabled if value is 0 or less. | +| [MIS_DIST_1WP](../advanced_config/parameter_reference.md#MIS_DIST_1WP) | There is a warning message if the distance of the first waypoint to Home is more than this value. Disabled if value is 0 or less. | | [FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG) | Maximum landing slope angle. | -| [MIS_TKO_LAND_REQ](../advanced_config/parameter_reference.md#MIS_TKO_LAND_REQ) | Mission takeoff/landing requirement configuration. FW and VTOL both have it set to 2 by default, which means that the mission has to contain a landing. | +| [MIS_TKO_LAND_REQ](../advanced_config/parameter_reference.md#MIS_TKO_LAND_REQ) | Mission takeoff/landing requirement configuration. No requirement by default for multicopter.| From 495c97d04f697648c9896ff5b95a561de148377e Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Fri, 1 Nov 2024 08:24:06 +1100 Subject: [PATCH 2/3] Update en/flight_modes_fw/mission.md --- en/flight_modes_fw/mission.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/en/flight_modes_fw/mission.md b/en/flight_modes_fw/mission.md index bf4817635a4f..9cb78e0606f0 100644 --- a/en/flight_modes_fw/mission.md +++ b/en/flight_modes_fw/mission.md @@ -88,7 +88,7 @@ A subset of the most important checks are listed below: - Missing takeoff and/or land item when these are configured as a requirement ([MIS_TKO_LAND_REQ](#MIS_TKO_LAND_REQ)) Additionally there is a check if the first waypoint is too far from the Home position ([MIS_DIST_1WP](#MIS_DIST_1WP)). -The user is notified should the check fail, but it has no effect on the validity of a mission plan, meaning that the mission can still be started even if the distance is too high. +The user is notified should the check fail, but it has no effect on the validity of a mission plan (the mission can still be started even if the distance is too great). ## QGroundControl Support From 10975eb97d99409ad68c0e60354d80a9e5533b99 Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Fri, 1 Nov 2024 08:31:19 +1100 Subject: [PATCH 3/3] subedit/prettier --- en/flight_modes_fw/mission.md | 10 +++++----- en/flight_modes_mc/mission.md | 15 ++++++--------- 2 files changed, 11 insertions(+), 14 deletions(-) diff --git a/en/flight_modes_fw/mission.md b/en/flight_modes_fw/mission.md index 9cb78e0606f0..9167393a3073 100644 --- a/en/flight_modes_fw/mission.md +++ b/en/flight_modes_fw/mission.md @@ -113,11 +113,11 @@ General parameters: Parameters related to [mission feasibility checks](#mission-feasibility-checks): -| Parameter | Description | -| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [MIS_DIST_1WP](../advanced_config/parameter_reference.md#MIS_DIST_1WP) | There is a warning message if the distance of the first waypoint to Home is more than this value. Disabled if value is 0 or less. | -| [FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG) | Maximum landing slope angle. | -| [MIS_TKO_LAND_REQ](../advanced_config/parameter_reference.md#MIS_TKO_LAND_REQ) | Mission takeoff/landing requirement configuration. FW and VTOL both have it set to 2 by default, which means that the mission has to contain a landing. | +| Parameter | Description | +| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| [MIS_DIST_1WP](../advanced_config/parameter_reference.md#MIS_DIST_1WP) | There is a warning message if the distance of the first waypoint to Home is more than this value. Disabled if value is 0 or less. | +| [FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG) | Maximum landing slope angle. | +| [MIS_TKO_LAND_REQ](../advanced_config/parameter_reference.md#MIS_TKO_LAND_REQ) | Sets whether mission _requires_ takeoff and/or landing items. FW and VTOL both have it set to 2 by default, which means that the mission has to contain a landing. | ## Mission Commands diff --git a/en/flight_modes_mc/mission.md b/en/flight_modes_mc/mission.md index 902e96b38214..6f10b8f13862 100644 --- a/en/flight_modes_mc/mission.md +++ b/en/flight_modes_mc/mission.md @@ -114,15 +114,13 @@ General parameters: Parameters related to [mission feasibility checks](#mission-feasibility-checks): -| Parameter | Description | -| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [MIS_DIST_1WP](../advanced_config/parameter_reference.md#MIS_DIST_1WP) | There is a warning message if the distance of the first waypoint to Home is more than this value. Disabled if value is 0 or less. | -| [FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG) | Maximum landing slope angle. | -| [MIS_TKO_LAND_REQ](../advanced_config/parameter_reference.md#MIS_TKO_LAND_REQ) | Mission takeoff/landing requirement configuration. No requirement by default for multicopter.| +| Parameter | Description | +| ----------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------- | +| [MIS_DIST_1WP](../advanced_config/parameter_reference.md#MIS_DIST_1WP) | There is a warning message if the distance of the first waypoint to Home is more than this value. Disabled if value is 0 or less. | +| [FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG) | Maximum landing slope angle. | +| [MIS_TKO_LAND_REQ](../advanced_config/parameter_reference.md#MIS_TKO_LAND_REQ) | Sets whether mission _requires_ takeoff and/or landing items. No requirement by default for multicopter. | - - -## Mission Commands +## Mission Commands {#mission_commands} PX4 "accepts" the following MAVLink mission commands in Mission mode (with some _caveats_, given after the list). Unless otherwise noted, the implementation is as defined in the MAVLink specification. @@ -184,7 +182,6 @@ Rally Points ::: info Please add an issue report or PR if you find a missing/incorrect message. - - PX4 parses the above messages, but they are not necessary _acted_ on. For example, some messages are vehicle-type specific. - PX4 does not support local frames for mission commands (e.g. [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED)). - Not all messages/commands are exposed via _QGroundControl_.