Who should be MAV_COMP_ID_MISSIONPLANNER ?

[Luis Alves]

Noticed the following discrepancy during my tests to the mavlink router code on AlceOSD:

When requesting the mission list, some of the GCS out there (qGroundStation and APMPlanner) send the cmd message to:
Target: <uav_sysid>,  MAV_COMP_ID_MISSIONPLANNER
(as seen at: https://github.com/mavlink/qgroundcontrol/blob/master/src/comm/MockLinkMissionItemHandler.cc#L112)

Ardupilot then answers the command by replying with a message with:
Source: <uav_sysid>, 1

But MissionPlanner does this differently (which seems right for me):
It sends the command targeting (uav_sysid, uav_compid).

So my question is: What is supposed the MAV_COMP_ID_MISSIONPLANNER be used for?
In my perspective, it's supposed to be used only by MissionPlanner (the GCS).

[Luis Alves]

I just noticed that I just linked the wrong file. It should be:
https://github.com/mavlink/qgroundcontrol/blob/master/src/MissionManager/MissionManager.cc#L99

[Bill Bonney]

Hi,

For example you may have an onboard component doing mission planning. You can target messages to that component using the MAV_COMP_ID_MISSIONPLANNER. If the component does not exist, the autiopilot will either handle it or drop it.

I’m not sure what you mean by uav_compid? but if it’s 1 you just mean the autopilot would take preference. In a system with one mission planning system it can be ignored. Which is what happens with ArduPilot.

Bill

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[Luis Alves]

My question is in fact to understand the source of "MAV_COMP_ID_MISSIONPLANNER" (the purpose of why it was added to the protocol).
What makes sense to me is that it was added to be used by the MissionPlanner GCS to identify itself (when sending the heartbeat or sending commands) - and in fact this is what's implemented.

But what you are telling is that it could be a component part of the system that would handle the mission planning.
Well, it could be... but it would only make sense to send commands to that component is a heartbeat was ever "seen" from that component.