Mission Upload / Download

This page explains how MAVLink can be used to upload and download missions (executed in Auto mode) and perform some other mission related actions. The user wiki page for Mission Planning is here.

Mission Related Messages

• MISSION_ACK

• MISSION_CURRENT

• MISSION_COUNT

• MISSION_CLEAR_ALL

• MISSION_ITEM_INT

• MISSION_ITEM_REACHED

• MISSION_REQUEST_INT

• MISSION_REQUEST_LIST

• MISSION_REQUEST_PARTIAL_LIST

• MISSION_SET_CURRENT

• MISSION_WRITE_PARTIAL_LIST

Also the following MAV_CMDs may be sent within a COMMAND_LONG

• MAV_CMD_MISSION_START

• MAV_CMD_DO_CHANGE_SPEED

• MAV_CMD_DO_PAUSE_CONTINUE

Pausing a Mission with MAV_CMD_DO_PAUSE_CONTINUE

A mission can be paused or resumed by sending a COMMAND_LONG with the command, param1 and param2 fields set as specified for the MAV_CMD_DO_PAUSE_CONTINUE command.

Command Field	Type	Description
target_system	uint8_t	System ID
target_component	uint8_t	Component ID of flight controller or just 0
command	uint16_t	MAV_CMD_DO_PAUSE_CONTINUE=193
confirmation	uint8_t	0
param1	float	0:pause, 1:continue
param2	float	not used
param3	float	not used
param4	float	not used
param5	float	not used
param6	float	not used
param7	float	not used

Example

The example commands below can be copy-pasted into MAVProxy (aka SITL) to test this command. Before running these commands enter, “module load message”

Example MAVProxy/SITL Command	Description
message COMMAND_LONG 0 0 193 0 0 0 0 0 0 0 0	pause mission
message COMMAND_LONG 0 0 193 0 1 0 0 0 0 0 0	continue / resume mission