Setting and clearing Missions with Mavlink protocol

[Jason Gillikin]

Hello All,

I am having some issues with the mavlink protocol setting and recieving missions

First:

when I send Mission clear all and then request mission list, there is always mission seq #0  which appears to be my current lat and long (might also be position where I turned on the copter).  Is this Correct? is this mission always going to be there?  I just wanted to make sure I am doing it correctly.

Second:

when I set a mission I send 

Messages: 

#44, Mission_Count .. to initiate a write transaction

#39, Mission_Item ... the mission Item I want to write

 Bytes Sent:

254 : start byte

 37 : payload

 2 : seq

 255 : systemID

 190 :component ID

 39 :Msg ID

//using mav_cmd enum 16 -- "Mav_CMD_Nav_WayPoint"

param1 =0 //hold

param2 =1 //radius

param3 =0 //pass through

param4 =0 //yaw

param5 =1 //lat  just as test

param6 =1 //long just as test

param7 =0 //alt

 : 0 : seq

  16 :  command 

 1 : Target systemID

 0 :  Target componentID

 0 : frame 

 1:current

 0 : auto continue

CRC

In response I get a Message #40 which is mission_request and seq#0 

(I think its in response to the mission Count I sent)

then I get mission Mission Ack value=0

which is great because it means it accepted my mission.

But, then I get a Message #253 Severity =1  which is

"Action should be taken immediately. Indicates error in non-critical systems." and the text is "flight plan received"

However, when I request the mission list, the mission is not changed...

does anyone know the right order of commands to write missions?

I just sniffed some packets from mission planner to come up with how to do it.

thanks,

Jason

PS. I am writing in C# creating packets byte by byte and sending them.  I am not using any of the c++ mavlink code for packing messages.

my CRC's are correct also.

[John Sauter]

I'm no expert, but according to the Waypoint protocol (http://qgroundcontrol.org/mavlink/waypoint_protocol) after sending the MISSION_COUNT message you must wait for the MISSION_REQUEST message and then reply with the corresponding MISSION_ITEM message. The MISSION_ACK will be sent after the number of MISSION_ITEMS specified in the original count message has been requested and received. 

[Jason Gillikin]

Hey John,

thanks for replying, So oddly enough, if I do not a Mission_Ack back to the Mav after it sends one to the GCS it doesn't save the coordinates.  However a new problem has emerged.  It seems it does not save my new Home coordinate (seq==0)  It gives me error code 3.

Jason

[Domenic Del Nano]

Jason,

Did you ever figure this out?  I am trying to implement creating a mission as well.

Dom

[Gillikin, Jason Lee]

haven't messed with it in a while. but from what I remember, home is always mission zero. also, I used the mavlink messages, which is a seperate ID. I don't have it in front of me right now.

hope this helps

jason
________________________________________
From: mav...@googlegroups.com [mav...@googlegroups.com] On Behalf Of Domenic Del Nano [ddel...@gmail.com]
Sent: Wednesday, April 22, 2015 8:17 PM
To: mav...@googlegroups.com
Subject: [MAVLINK] Re: Setting and clearing Missions with Mavlink protocol

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