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MAVLink and MSP command-control parity#11717

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xznhj8129 wants to merge 8 commits into
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xznhj8129:mav/06-command-guided
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MAVLink and MSP command-control parity#11717
xznhj8129 wants to merge 8 commits into
iNavFlight:maintenance-10.xfrom
xznhj8129:mav/06-command-guided

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@xznhj8129 xznhj8129 commented Jul 12, 2026

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⚠ Part 6/7 of the mavlink_multiport2 split — depends on #11716.
GitHub can't base an upstream PR on a fork branch, so this targets maintenance-10.x and its diff also contains the earlier parts of the stack. Review only this part's own commits:

  • `57cb25ba5` Add MAVLink and MSP command-control parity

This part in isolation: xznhj8129/inav@mav/05-mission...mav/06-command-guided
Merge order: parts 1 → 7 in sequence.

Part 6/7 of the mavlink_multiport2 stack.

Command-control parity between MAVLink, MSP, and the Programming Framework, so GCS and companion software can arm, navigate, and land through standard commands.

Arming

  • MAV_CMD_COMPONENT_ARM_DISARM and MSP2_INAV_ARM_DISARM (0x2227) go through the normal INAV arming/disarming path and ACK success only when the requested state is actually reached.

RTH

  • MAV_CMD_NAV_RETURN_TO_LAUNCH, the ArduPilot-style MAV_CMD_DO_SET_MODE RTL request, MSP2_INAV_ACTIVATE_RTH (0x2225), and Programming Framework operation 61 all enter the normal INAV RTH mode path via activateRTHMode(), which adds a temporary BOXNAVRTH source to the RC mode selector. This deliberately does not use the failsafe/geozone forced-RTH latch — live testing showed activateForcedRTH() is not equivalent to switching into RTH mode. The temporary source clears on a pilot RC flight-mode change or disarm, so a command-triggered RTH cannot survive into a later arming attempt.

Pause / position hold

  • MAV_CMD_DO_SET_MODE also accepts ArduPilot pause-style modes (PLANE_MODE_LOITER, COPTER_MODE_LOITER, COPTER_MODE_POSHOLD, COPTER_MODE_BRAKE) and enters normal INAV PosHold at the current position/altitude/heading via a temporary BOXNAVPOSHOLD source (this is what QGC's Pause button sends). Other GCS mode changes remain UNSUPPORTED.

Landing

  • MAV_CMD_NAV_LAND, MSP2_INAV_ACTIVATE_LANDING (0x2224), and PF operation 62 perform a normal waypoint-style landing at the current position through a transient waypoint — the uploaded mission is not modified, and this is not emergency landing. Mission LAND items keep their supplied coordinates; direct LAND commands ignore coordinate fields.

Home, time, guided

  • MAV_CMD_DO_SET_HOME uses the existing waypoint-0 backend (param1 = 1 = current GNSS position; explicit global location otherwise) and retains all native WP#0 safety gates. MSP set-home remains MSP_SET_WP waypoint 0 — no duplicate command added.
  • MSP2_INAV_TIMESYNC (0x2228) returns the same monotonic nanosecond boot clock as MAVLink TIMESYNC.
  • SET_POSITION_TARGET_GLOBAL_INT / _LOCAL_NED guided handling (waypoint 255 / altitude-only requests, gated on valid GCS navigation).
  • MAV_CMD_CONDITION_YAW heading changes while the nav state has yaw control.
  • Temporary fixed-wing PosHold loiter-radius override: MAV_CMD_DO_REPOSITION.param3 in meters, or int32 loiterRadius (cm) appended to MSP2_INAV_SET_GLOBAL_TARGET (17-byte payload; 13-byte payload = no change; 0 clears). MSP2_INAV_NAV_TARGET reports the active override. Volatile: cleared on disarm/reboot, applied only while the nav FSM is in PosHold so RTH/mission/autoland loiter keeps configured defaults.
  • Explicit MAV_CMD_NAV_TAKEOFF stub returning UNSUPPORTED (foundation for later takeoff work, no behavior introduced).
  • OSD flight-mode element shows GCSN while GCS-assisted navigation is actually active.

All float command parameters are validated (finite/range) before integer conversion.

Companion PR: mspapi2:mavlink_multiport2 (synchronized message metadata + arm/RTH/land/timesync helpers).

Testing

  • Unit slice: 81/81 passing (mavlink_unittest).
  • Full SITL build, warnings-as-errors, clean. MSP dev docs regenerated.
  • X-Plane + QGC SITl test successful

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This was referenced Jul 12, 2026
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xznhj8129 force-pushed the mav/06-command-guided branch from 57cb25b to fd1233f Compare July 12, 2026 21:42
@xznhj8129 xznhj8129 mentioned this pull request Jul 12, 2026
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@xznhj8129
xznhj8129 force-pushed the mav/06-command-guided branch from fd1233f to b25bb9f Compare July 14, 2026 14:07
@sensei-hacker sensei-hacker mentioned this pull request Jul 18, 2026
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@xznhj8129
xznhj8129 force-pushed the mav/06-command-guided branch from b25bb9f to efd562a Compare July 19, 2026 01:19
xznhj8129 added 8 commits July 19, 2026 02:36
@xznhj8129
Add MAVLink mission transfer state machine
17d1f1c 
Rewritten mission protocol replacing the old ad-hoc counters (absent
since the modular split): owned transfers tracking initiating system,
component and ingress port; upload retries and timeouts; one-item
retransmission; final MISSION_ACK; out-of-sequence recovery; explicit
cancellation; legacy MISSION_REQUEST answered with MISSION_ITEM_INT.
Uploads are staged and committed only on success, QGC planned-home item
0 is skipped, modifier items (speed/delay/altitude) fold onto the
correct INAV waypoint, and persistence failures restore the previous
mission. Successful uploads and clears update nonvolatile storage.
Adds 1 Hz MISSION_CURRENT, active-item download flags, and
MISSION_ITEM_REACHED broadcast from a navigation-side reached latch.

Includes the live SITL mission test rig (src/test/mavlink/missions) and
routing compliance harness (src/test/mavlink/routing).
Unit slice: 58/58 passing.

Mission translation to INAV's MSP waypoint model is lossy; downloads
are best-effort reconstruction, not canonical mission backups.
@xznhj8129
Add MAVLink SITL sanity harness
55772ef 
Standalone 8-check pass/fail rig against a self-started SITL with the
known-good multiport serial layout: MSP on UART1, MAVLink receiver
telemetry and RC override on UART2, GCS heartbeat, mission upload and
readback, stream-rate and message-rate control on UART3. Previously
lived only in the development workspace and was never committed.
@xznhj8129
Mark LAND waypoint reached when landing completes
02d5b36 
NAV_STATE_WAYPOINT_RTH_LAND success maps straight to
NAV_STATE_WAYPOINT_FINISHED, bypassing NAV_STATE_WAYPOINT_NEXT where the
reached latch is normally set, and a mission LAND item that hands off to
the fixed-wing autoland FSM terminates in NAV_STATE_FW_LANDING_FINISHED
without touching either path. In both cases a mission terminated by
NAV_WP_ACTION_LAND never fired MISSION_ITEM_REACHED for its final item
and MISSION_CURRENT stayed NOT_STARTED after touchdown.

Mark the item in the simple-landing success branch, and in
FW_LANDING_FINISHED when the autoland was entered from a mission LAND
item (fwLandState.landWp), using landState to guard the self-looping
re-entry. The aborted-landing paths intentionally do not mark.
@xznhj8129
Guard MISSION_CLEAR_ALL by transfer ownership, drop dead float downlo…
603288a 
…ad encoder

MISSION_CLEAR_ALL now denies a sender that is not the owning partner of
an in-progress transfer, matching MISSION_COUNT and MISSION_REQUEST_LIST;
previously any local-target sender could cancel another partner's
transfer mid-flight.

Downloads always answer MISSION_ITEM_INT (per MAVLink deprecation
guidance for MISSION_REQUEST), so the float MISSION_ITEM response
encoder was unreachable - removed, with a comment explaining why legacy
requests get INT replies. Upload-side float support is unaffected.
@xznhj8129
Fix mission completion reporting edge cases
1262f51 
Two ways the completion signal could be lost or misreported:

- mavlinkSendPendingMissionItemReached() consumed the one-slot reached
  latch before checking for an active port. A shared MAVLink port that
  closes on disarm right after landing destroyed the final item's
  MISSION_ITEM_REACHED and left missionCompleted false. Check for a
  delivery target first; the latch stays pending until a port can send.

- MISSION_CURRENT ranked WP-mode activity above completion, and
  NAV_STATE_WAYPOINT_FINISHED still maps to NAV_WP_MODE, so a landed
  vehicle reported ACTIVE until the pilot left WP mode. Completion now
  outranks activity, and missionCompleted is cleared on the WP-mode
  rising edge so a re-flown mission reports ACTIVE, not stale COMPLETE.
@xznhj8129
Add unit tests for mission completion reporting and CLEAR_ALL ownership
42dbfc5 
Covers the fixes in the previous commits:
- MISSION_CURRENT completion outranks WP-mode activity and clears on a
  fresh WP-mode engagement
- the reached latch survives cycles with no active MAVLink port
- MISSION_CLEAR_ALL from a non-owning sender is denied and leaves the
  owner's transfer usable; the owning sender can still cancel its own
@xznhj8129
Add MAVLink and MSP command-control parity
72cbe15 
- MAV_CMD_COMPONENT_ARM_DISARM and MSP2_INAV_ARM_DISARM through the
  normal arming path, succeeding only when the requested state is
  reached
- RTH via a temporary BOXNAVRTH source on the RC mode selector
  (activateRTHMode) instead of the failsafe/geozone forced-RTH latch;
  wired to MAV_CMD_NAV_RETURN_TO_LAUNCH, ArduPilot DO_SET_MODE RTL,
  MSP2_INAV_ACTIVATE_RTH, and Programming Framework operation 61.
  Cleared by a pilot flight-mode change or disarm
- QGC/ArduPilot pause: DO_SET_MODE Loiter/PosHold/Brake enters normal
  PosHold at the current position via a temporary BOXNAVPOSHOLD source
- Normal current-position LAND (transient waypoint, uploaded mission
  untouched) via MAV_CMD_NAV_LAND, MSP2_INAV_ACTIVATE_LANDING, PF op 62
- MAV_CMD_DO_SET_HOME through the native waypoint-0 backend
- MSP2_INAV_TIMESYNC returning the MAVLink TIMESYNC boot clock
- Temporary fixed-wing loiter-radius override: DO_REPOSITION.param3
  (meters) or int32 loiterRadius appended to MSP2_INAV_SET_GLOBAL_TARGET
  (cm); volatile, cleared on disarm/reboot, only active in PosHold
- SET_POSITION_TARGET_GLOBAL_INT / _LOCAL_NED guided handling
- MAV_CMD_CONDITION_YAW; explicit unsupported MAV_CMD_NAV_TAKEOFF stub
- GCSN OSD flight-mode element while GCS navigation is active

Unit slice: 81/81 passing.
@xznhj8129
Don't credit mission items for command-triggered landings
0cc2e89 
A command-triggered landing (MAV_CMD_NAV_LAND / MSP direct land) borrows
NAV_STATE_WAYPOINT_RTH_LAND and the FW autoland FSM with a transient
waypoint, while activeWaypointIndex still points at whatever mission item
was last active. The unconditional reached-marking added for mission LAND
items would emit MISSION_ITEM_REACHED for that stale index and could mark
a loaded mission complete. Capture forcedLandingActivated before the
existing clears and skip the marking for commanded landings at both
finish sites.
@xznhj8129
xznhj8129 force-pushed the mav/06-command-guided branch from efd562a to 0cc2e89 Compare July 19, 2026 16:13
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