MAVLink: make MISSION_CURRENT settable via SET_MESSAGE_INTERVAL and silent on high-latency ports

[xznhj8129]

Problem

MISSION_CURRENT (42) was sent by mavlinkMissionUpdate() on a hardcoded 1000 ms timer to every active MAVLink port:

• SET_MESSAGE_INTERVAL / GET_MESSAGE_INTERVAL returned MAV_RESULT_UNSUPPORTED for it, so a GCS could neither slow it down nor turn it off.
• The send mask came from mavlinkActivePortMask(), which ignores highLatencyEnabled, so high-latency ports received it alongside HIGH_LATENCY2.

Fix

• MISSION_CURRENT is now a regular periodic message (MAVLINK_PERIODIC_MESSAGE_MISSION_CURRENT), sent from processMAVLinkTelemetry() per port.
• It has a fixed 1000 ms default on every port (MAVLINK_MISSION_CURRENT_INTERVAL_MS), independent of any REQUEST_DATA_STREAM rate. Existing behaviour doesn't change unless a GCS asks for a different interval.
• SET_MESSAGE_INTERVAL / GET_MESSAGE_INTERVAL work for it per port (-1 disables, 0 resets to default).
• MAV_CMD_REQUEST_MESSAGE for 42 now sends it once.
• High-latency ports no longer get it: the existing high-latency early return in processMAVLinkTelemetry() now covers it.
• Mission state tracking (completion, WP-mode rising edge, transfer timeouts) stays in mavlinkMissionUpdate(). Only the send moved, into mavlinkSendMissionCurrent(). lastMissionCurrentMs is removed.

Testing

• New unit tests SetMessageIntervalControlsMissionCurrent and HighLatencyPortDoesNotSendMissionCurrent. Both fail on the current maintenance-10.x and pass with this change.
• New unit test MissionCurrentDefaultIgnoresDataStreamRates: changing the heartbeat stream or MAV_DATA_STREAM_ALL rate leaves MISSION_CURRENT at 1000 ms.
• The first periodic send is now staggered like the other periodic messages (about 1.036 s after init instead of exactly 1.0 s). The two existing MISSION_CURRENT tests had their time ticks moved 100 ms later to account for this.
• All mavlink_unittest tests pass.
• Not yet tested against a live GCS.

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PR Summary by Qodo

Make MISSION_CURRENT configurable per MAVLink port

🐞 Bug fix ✨ Enhancement 🧪 Tests 🕐 20-40 Minutes

AI Description

• Schedule MISSION_CURRENT per port at heartbeat rate, preserving the 1 Hz default.
• Support interval configuration and one-shot requests for MISSION_CURRENT.
• Suppress MISSION_CURRENT on high-latency links and cover behavior with unit tests.

Diagram

graph TD
  GCS["GCS Commands"] --> MAP["Message Mapping"] --> SCH["Per-Port Scheduler"] --> LAT{"High Latency?"}
  LAT -- "Yes" --> HL["HIGH_LATENCY2"]
  LAT -- "No" --> CUR["MISSION_CURRENT"]
  STATE["Mission State"] --> CUR

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High-Level Assessment

The selected approach is optimal because it reuses the established per-port periodic-message scheduler, automatically gaining interval overrides, request handling, staggering, and high-latency suppression. Retaining a mission-specific timer with custom per-port filtering would duplicate scheduler behavior and preserve unnecessary state.

Files changed (6) +99 / -20

Enhancement (2) +2 / -0

mavlink_mission.hExpose the MISSION_CURRENT sender +1/-0

Expose the MISSION_CURRENT sender

• Declares mavlinkSendMissionCurrent() so telemetry scheduling and request handling can invoke it.

src/main/mavlink/mavlink_mission.h

mavlink_types.hAdd the MISSION_CURRENT periodic message identifier +1/-0

Add the MISSION_CURRENT periodic message identifier

• Extends the periodic-message enumeration so each MAVLink port can maintain an independent MISSION_CURRENT schedule and override interval.

src/main/mavlink/mavlink_types.h

Bug fix (2) +17 / -13

mavlink_mission.cSeparate mission tracking from MISSION_CURRENT transmission +4/-13

Separate mission tracking from MISSION_CURRENT transmission

• Keeps completion transitions and mission transfer timeout handling in mavlinkMissionUpdate(). Extracts message construction and transmission into mavlinkSendMissionCurrent() for scheduler and request-driven use.

src/main/mavlink/mavlink_mission.c

mavlink_streams.cIntegrate MISSION_CURRENT with periodic telemetry scheduling +13/-0

Integrate MISSION_CURRENT with periodic telemetry scheduling

• Maps MISSION_CURRENT into the periodic-message registry with the heartbeat stream's 1 Hz default. Adds periodic and one-shot sending, enabling SET/GET_MESSAGE_INTERVAL behavior and applying the existing high-latency early return.

src/main/mavlink/mavlink_streams.c

Refactor (1) +0 / -2

mavlink_internal.hRemove mission-specific transmission timer state +0/-2

Remove mission-specific transmission timer state

• Removes the hardcoded MISSION_CURRENT interval and global last-send timestamp now superseded by per-port scheduler state.

src/main/mavlink/mavlink_internal.h

Tests (1) +80 / -5

mavlink_unittest.ccTest MISSION_CURRENT interval and high-latency behavior +80/-5

Test MISSION_CURRENT interval and high-latency behavior

• Adjusts existing mission-current timing assertions for scheduler staggering. Adds helpers and tests covering default interval reporting, custom rates, disabling transmission, and suppression on high-latency ports.

src/test/unit/mavlink_unittest.cc

[github-actions]

RAM / Flash usage vs. base commit 3d2c8fd — commit 0fb1751

Target	Flash Δ	RAM Δ
MATEKF405	+272 B (+0.04%)	CCM: ±0 B (±0.00%) RAM: +64 B (+0.06%)
MATEKF722	±0 B (±0.00%)	ITCM_RAM: ±0 B (±0.00%) RAM: ±0 B (±0.00%) TCM: ±0 B (±0.00%)
MATEKF765	+16 B (+0.00%)	DTCM_RAM: ±0 B (±0.00%) SRAM1: +64 B (+0.05%)
MATEKH743	+16 B (+0.00%)	D2_RAM: ±0 B (±0.00%) DTCM_RAM: ±0 B (±0.00%) ITCM_RAM: ±0 B (±0.00%) RAM: ±0 B (±0.00%)

See RAM/flash optimization guide for techniques to reduce usage.

[github-actions]

Test firmware build ready — commit 0fb1751

Download firmware for PR #12035

251 targets built. Find your board's .hex file by name on that page (e.g. MATEKF405SE.hex). Files are individually downloadable — no GitHub login required.

Development build for testing only. Use Full Chip Erase when flashing.