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Mission feasibility checks: improve correctness of docs, escpecially around MIS_DIST_1WP #3424

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Oct 31, 2024
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Mission feasibility checks: improve correctness of docs, escpecially around MIS_DIST_1WP #3424

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Mission feasibility checks: improve correctness of docs, escpecially …
sfuhrer Oct 31, 2024
495c97d
Update en/flight_modes_fw/mission.md
hamishwillee Oct 31, 2024
10975eb
subedit/prettier
hamishwillee Oct 31, 2024
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16 changes: 9 additions & 7 deletions en/flight_modes_fw/mission.md
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Expand Up @@ -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.
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FMI Does this prevent switching to mission mode or you switch and the mission is in some kind of paused state?

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It prevents switching into Mission and will instead switch to Hold.

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Cool. Captured in #3437

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 (the mission can still be started even if the distance is too great).

## QGroundControl Support

_QGroundControl_ provides additional GCS-level mission handling support (in addition to that provided by the flight controller).
Expand All @@ -111,11 +113,11 @@ General parameters:

Parameters related to [mission feasibility checks](#mission-feasibility-checks):

| Parameter | Description |
| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MIS_DIST_1WP"></a>[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. |
| <a id="FW_LND_ANG"></a>[FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG) | Maximum landing slope angle. |
| <a id="MIS_TKO_LAND_REQ"></a>[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 |
| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="MIS_DIST_1WP"></a>[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. |
| <a id="FW_LND_ANG"></a>[FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG) | Maximum landing slope angle. |
| <a id="MIS_TKO_LAND_REQ"></a>[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

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22 changes: 11 additions & 11 deletions en/flight_modes_mc/mission.md
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Expand Up @@ -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

Expand All @@ -111,15 +114,13 @@ General parameters:

Parameters related to [mission feasibility checks](#mission-feasibility-checks):

| Parameter | Description |
| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MIS_DIST_1WP"></a>[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. |
| <a id="FW_LND_ANG"></a>[FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG) | Maximum landing slope angle. |
| <a id="MIS_TKO_LAND_REQ"></a>[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. |

<a id="mission_commands"></a>
| Parameter | Description |
| ----------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MIS_DIST_1WP"></a>[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. |
| <a id="FW_LND_ANG"></a>[FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG) | Maximum landing slope angle. |
| <a id="MIS_TKO_LAND_REQ"></a>[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.
Expand Down Expand Up @@ -181,7 +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_.
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