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mission_raw: fix mission import for mission commands #2560

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Merged
merged 1 commit into from
May 6, 2025
Merged

mission_raw: fix mission import for mission commands #2560

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29 changes: 17 additions & 12 deletions src/mavsdk/plugins/mission_raw/mission_import.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -133,8 +133,8 @@ MissionImport::import_mission(const Json::Value& root, Autopilot autopilot)
0.0f,
0.0f,
0.0f,
static_cast<int32_t>(std::round(home[0].asDouble() * 1e7)),
static_cast<int32_t>(std::round(home[1].asDouble() * 1e7)),
set_int32(home[0], MAV_FRAME_GLOBAL_INT),
set_int32(home[1], MAV_FRAME_GLOBAL_INT),
home[2].asFloat(),
MAV_MISSION_TYPE_MISSION});
}
Expand Down Expand Up @@ -225,8 +225,8 @@ MissionImport::import_rally_points(const Json::Value& root)
item.command = MAV_CMD_NAV_RALLY_POINT;
item.frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
item.mission_type = MAV_MISSION_TYPE_RALLY;
item.x = set_int32(point[0]);
item.y = set_int32(point[1]);
item.x = set_int32(point[0], item.frame);
item.y = set_int32(point[1], item.frame);
item.z = set_float(point[2]);

rally_items.push_back(item);
Expand Down Expand Up @@ -281,10 +281,10 @@ MissionImport::import_simple_mission_item(const Json::Value& json_item)
item.param4 = set_float(json_item["params"][i]);
break;
case 4:
item.x = set_int32(json_item["params"][i]);
item.x = set_int32(json_item["params"][i], item.frame);
break;
case 5:
item.y = set_int32(json_item["params"][i]);
item.y = set_int32(json_item["params"][i], item.frame);
break;
case 6:
item.z = set_float(json_item["params"][i]);
Expand Down Expand Up @@ -363,8 +363,8 @@ MissionImport::import_polygon_geofences(const Json::Value& polygons)
MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION;
item.frame = MAV_FRAME_GLOBAL;
item.param1 = set_float(points.size());
item.x = set_int32(point[0]);
item.y = set_int32(point[1]);
item.x = set_int32(point[0], item.frame);
item.y = set_int32(point[1], item.frame);
item.mission_type = MAV_MISSION_TYPE_FENCE;

polygon_geofences.push_back(item);
Expand All @@ -390,8 +390,8 @@ MissionImport::import_circular_geofences(const Json::Value& circles)
inclusion ? MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION : MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION;
item.frame = MAV_FRAME_GLOBAL;
item.param1 = set_float(radius);
item.x = set_int32(center[0]);
item.y = set_int32(center[1]);
item.x = set_int32(center[0], item.frame);
item.y = set_int32(center[1], item.frame);
item.mission_type = MAV_MISSION_TYPE_FENCE;

circular_geofences.push_back(item);
Expand All @@ -405,9 +405,14 @@ float MissionImport::set_float(const Json::Value& val)
return val.isNull() ? NAN : val.asFloat();
}

int32_t MissionImport::set_int32(const Json::Value& val)
int32_t MissionImport::set_int32(const Json::Value& val, uint32_t frame)
{
return static_cast<int32_t>(val.isNull() ? 0 : (std::round(val.asDouble() * 1e7)));
// Don't apply 10^7 conversion for MAV_FRAME_MISSION
if (frame == MAV_FRAME_MISSION) {
return static_cast<int32_t>(val.isNull() ? 0 : val.asFloat());
} else {
return static_cast<int32_t>(val.isNull() ? 0 : (std::round(val.asDouble() * 1e7)));
}
}

} // namespace mavsdk
2 changes: 1 addition & 1 deletion src/mavsdk/plugins/mission_raw/mission_import.h
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@ class MissionImport {
static std::vector<MissionRaw::MissionItem>
import_circular_geofences(const Json::Value& json_item);
static float set_float(const Json::Value& val);
static int32_t set_int32(const Json::Value& val);
static int32_t set_int32(const Json::Value& val, uint32_t frame);
};

} // namespace mavsdk
30 changes: 30 additions & 0 deletions src/mavsdk/plugins/mission_raw/mission_import_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -441,3 +441,33 @@ TEST(MissionRaw, ImportSamplePlanWithArduPilot)

EXPECT_EQ(reference_items, result_pair.second.mission_items);
}

TEST(MissionRaw, ImportSamplePlanWithDigicamControl)
{
auto digicam_control_items = std::vector<MissionRaw::MissionItem>{
{0,
MAV_FRAME_MISSION,
MAV_CMD_DO_DIGICAM_CONTROL,
1, // current
1, // autocontinue
1,
0,
0,
0,
1,
0,
0,
MAV_MISSION_TYPE_MISSION}};

std::ifstream file{path_prefix("qgroundcontrol_sample_with_digicam_control.plan")};
ASSERT_TRUE(file);

std::stringstream buf;
buf << file.rdbuf();
file.close();

const auto result_pair = MissionImport::parse_json(buf.str(), Autopilot::Px4);
ASSERT_EQ(result_pair.first, MissionRaw::Result::Success);

EXPECT_EQ(digicam_control_items, result_pair.second.mission_items);
}
48 changes: 48 additions & 0 deletions src/mavsdk/plugins/mission_raw/test_plans/qgroundcontrol_sample_with_digicam_control.plan
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Original file line number Diff line number Diff line change
@@ -0,0 +1,48 @@
{
"fileType": "Plan",
"geoFence": {
"circles": [],
"polygons": [],
"version": 2
},
"groundStation": "LiniaGenerator",
"mission": {
"cruiseSpeed": 10.0,
"firmwareType": 3,
"globalPlanAltitudeMode": 1,
"hoverSpeed": 10.0,
"items": [
{
"autoContinue": true,
"command": 203,
"doJumpId": 7,
"frame": 2,
"params": [
1,
0,
0,
0,
1,
0,
0
],
"type": "SimpleItem",
"amslaltAboveTerrain": null,
"altitudeMode": null,
"altitude": null
}
],
"vehicleType": 2,
"plannedHomePosition": [
0.0,
0.0,
0.0
],
"version": 2
},
"rallyPoints": {
"points": [],
"version": 2
},
"version": 1
}