waypoints.c

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/*******************************************************************************
 
 Copyright (C) 2011 Lorenz Meier lm ( a t ) inf.ethz.ch
 
 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 
 This program is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.
 
 You should have received a copy of the GNU General Public License
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 ****************************************************************************/

#include "waypoints.h"
#include <math.h>

bool debug = true;
bool verbose = true;

extern mavlink_wpm_storage wpm;

extern void mavlink_missionlib_send_message(mavlink_message_t* msg);
extern void mavlink_missionlib_send_gcs_string(const char* string);
extern uint64_t mavlink_missionlib_get_system_timestamp();
extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
                float param2, float param3, float param4, float param5_lat_x,
                float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command);


#define MAVLINK_WPM_NO_PRINTF

uint8_t mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER;

void mavlink_wpm_init(mavlink_wpm_storage* state)
{
        // Set all waypoints to zero
        
        // Set count to zero
        state->size = 0;
        state->max_size = MAVLINK_WPM_MAX_WP_COUNT;
        state->current_state = MAVLINK_WPM_STATE_IDLE;
        state->current_partner_sysid = 0;
        state->current_partner_compid = 0;
        state->timestamp_lastaction = 0;
        state->timestamp_last_send_setpoint = 0;
        state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT;
        state->delay_setpoint = MAVLINK_WPM_SETPOINT_DELAY_DEFAULT;
        state->idle = false;                                    
        state->current_active_wp_id = -1;               
        state->yaw_reached = false;                                             
        state->pos_reached = false;                                             
        state->timestamp_lastoutside_orbit = 0;
        state->timestamp_firstinside_orbit = 0;
        
}

/*
 *  @brief Sends an waypoint ack message
 */
void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type)
{
    mavlink_message_t msg;
    mavlink_mission_ack_t wpa;
        
    wpa.target_system = wpm.current_partner_sysid;
    wpa.target_component = wpm.current_partner_compid;
    wpa.type = type;
        
    mavlink_msg_mission_ack_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpa);
    mavlink_missionlib_send_message(&msg);
        
    // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
        
    if (MAVLINK_WPM_TEXT_FEEDBACK)
        {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("Sent waypoint ACK");
#else
                if (MAVLINK_WPM_VERBOSE) printf("Sent waypoint ack (%u) to ID %u\n", wpa.type, wpa.target_system);
#endif
                mavlink_missionlib_send_gcs_string("Sent waypoint ACK");
        }
}

/*
 *  @brief Broadcasts the new target waypoint and directs the MAV to fly there
 *
 *  This function broadcasts its new active waypoint sequence number and
 *  sends a message to the controller, advising it to fly to the coordinates
 *  of the waypoint with a given orientation
 *
 *  @param seq The waypoint sequence number the MAV should fly to.
 */
void mavlink_wpm_send_waypoint_current(uint16_t seq)
{
    if(seq < wpm.size)
    {
        mavlink_mission_item_t *cur = &(wpm.waypoints[seq]);
                
        mavlink_message_t msg;
        mavlink_mission_current_t wpc;
                
        wpc.seq = cur->seq;
                
        mavlink_msg_mission_current_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc);
        mavlink_missionlib_send_message(&msg);
                
        // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
                
        if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Set current waypoint\n"); 
    }
    else
    {
        if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds\n");
    }
}

/*
 *  @brief Directs the MAV to fly to a position
 *
 *  Sends a message to the controller, advising it to fly to the coordinates
 *  of the waypoint with a given orientation
 *
 *  @param seq The waypoint sequence number the MAV should fly to.
 */
void mavlink_wpm_send_setpoint(uint16_t seq)
{
    if(seq < wpm.size)
    {
        mavlink_mission_item_t *cur = &(wpm.waypoints[seq]);
        mavlink_missionlib_current_waypoint_changed(cur->seq, cur->param1,
                        cur->param2, cur->param3, cur->param4, cur->x,
                        cur->y, cur->z, cur->frame, cur->command);

        wpm.timestamp_last_send_setpoint = mavlink_missionlib_get_system_timestamp();
    }
    else
    {
        if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n"); 
    }
}

void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count)
{
    mavlink_message_t msg;
    mavlink_mission_count_t wpc;
        
    wpc.target_system = wpm.current_partner_sysid;
    wpc.target_component = wpm.current_partner_compid;
    wpc.count = count;
        
    mavlink_msg_mission_count_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc);
    mavlink_missionlib_send_message(&msg);
        
    if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint count"); 
        
    // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
}

void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq)
{
    if (seq < wpm.size)
    {
        mavlink_message_t msg;
        mavlink_mission_item_t *wp = &(wpm.waypoints[seq]);
        wp->target_system = wpm.current_partner_sysid;
        wp->target_component = wpm.current_partner_compid;
        mavlink_msg_mission_item_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, wp);
        mavlink_missionlib_send_message(&msg);
        if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint"); 
                
        // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
    }
    else
    {
        if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n");
    }
}

void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq)
{
    if (seq < wpm.max_size)
    {
        mavlink_message_t msg;
        mavlink_mission_request_t wpr;
        wpr.target_system = wpm.current_partner_sysid;
        wpr.target_component = wpm.current_partner_compid;
        wpr.seq = seq;
        mavlink_msg_mission_request_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpr);
        mavlink_missionlib_send_message(&msg);
        if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint request"); 
                
        // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
    }
    else
    {
        if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity\n");
    }
}

/*
 *  @brief emits a message that a waypoint reached
 *
 *  This function broadcasts a message that a waypoint is reached.
 *
 *  @param seq The waypoint sequence number the MAV has reached.
 */
void mavlink_wpm_send_waypoint_reached(uint16_t seq)
{
    mavlink_message_t msg;
    mavlink_mission_item_reached_t wp_reached;
        
    wp_reached.seq = seq;
        
    mavlink_msg_mission_item_reached_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp_reached);
    mavlink_missionlib_send_message(&msg);
        
    if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint reached message"); 
        
    // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
}

//float mavlink_wpm_distance_to_segment(uint16_t seq, float x, float y, float z)
//{
//    if (seq < wpm.size)
//    {
//        mavlink_mission_item_t *cur = waypoints->at(seq);
//              
//        const PxVector3 A(cur->x, cur->y, cur->z);
//        const PxVector3 C(x, y, z);
//              
//        // seq not the second last waypoint
//        if ((uint16_t)(seq+1) < wpm.size)
//        {
//            mavlink_mission_item_t *next = waypoints->at(seq+1);
//            const PxVector3 B(next->x, next->y, next->z);
//            const float r = (B-A).dot(C-A) / (B-A).lengthSquared();
//            if (r >= 0 && r <= 1)
//            {
//                const PxVector3 P(A + r*(B-A));
//                return (P-C).length();
//            }
//            else if (r < 0.f)
//            {
//                return (C-A).length();
//            }
//            else
//            {
//                return (C-B).length();
//            }
//        }
//        else
//        {
//            return (C-A).length();
//        }
//    }
//    else
//    {
//        // if (verbose) // printf("ERROR: index out of bounds\n");
//    }
//    return -1.f;
//}

float mavlink_wpm_distance_to_point(uint16_t seq, float x, float y, float z)
{
//    if (seq < wpm.size)
//    {
//        mavlink_mission_item_t *cur = waypoints->at(seq);
//              
//        const PxVector3 A(cur->x, cur->y, cur->z);
//        const PxVector3 C(x, y, z);
//              
//        return (C-A).length();
//    }
//    else
//    {
//        // if (verbose) // printf("ERROR: index out of bounds\n");
//    }
    return -1.f;
}

void mavlink_wpm_loop()
{
    //check for timed-out operations
    uint64_t now = mavlink_missionlib_get_system_timestamp();
    if (now-wpm.timestamp_lastaction > wpm.timeout && wpm.current_state != MAVLINK_WPM_STATE_IDLE)
    {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("Operation timeout switching -> IDLE");
#else
                if (MAVLINK_WPM_VERBOSE) printf("Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm.current_state);
#endif
                wpm.current_state = MAVLINK_WPM_STATE_IDLE;
        wpm.current_count = 0;
        wpm.current_partner_sysid = 0;
        wpm.current_partner_compid = 0;
        wpm.current_wp_id = -1;
                
        if(wpm.size == 0)
        {
            wpm.current_active_wp_id = -1;
        }
    }
        
    if(now-wpm.timestamp_last_send_setpoint > wpm.delay_setpoint && wpm.current_active_wp_id < wpm.size)
    {
        mavlink_wpm_send_setpoint(wpm.current_active_wp_id);
    }
}

void mavlink_wpm_message_handler(const mavlink_message_t* msg)
{
        uint64_t now = mavlink_missionlib_get_system_timestamp();
    switch(msg->msgid)
    {
                case MAVLINK_MSG_ID_ATTITUDE:
        {
            if(msg->sysid == mavlink_system.sysid && wpm.current_active_wp_id < wpm.size)
            {
                mavlink_mission_item_t *wp = &(wpm.waypoints[wpm.current_active_wp_id]);
                if(wp->frame == MAV_FRAME_LOCAL_ENU || wp->frame == MAV_FRAME_LOCAL_NED)
                {
                    mavlink_attitude_t att;
                    mavlink_msg_attitude_decode(msg, &att);
                    float yaw_tolerance = wpm.accept_range_yaw;
                    //compare current yaw
                    if (att.yaw - yaw_tolerance >= 0.0f && att.yaw + yaw_tolerance < 2.f*M_PI)
                    {
                        if (att.yaw - yaw_tolerance <= wp->param4 && att.yaw + yaw_tolerance >= wp->param4)
                            wpm.yaw_reached = true;
                    }
                    else if(att.yaw - yaw_tolerance < 0.0f)
                    {
                        float lowerBound = 360.0f + att.yaw - yaw_tolerance;
                        if (lowerBound < wp->param4 || wp->param4 < att.yaw + yaw_tolerance)
                            wpm.yaw_reached = true;
                    }
                    else
                    {
                        float upperBound = att.yaw + yaw_tolerance - 2.f*M_PI;
                        if (att.yaw - yaw_tolerance < wp->param4 || wp->param4 < upperBound)
                            wpm.yaw_reached = true;
                    }
                }
            }
            break;
        }
                        
                case MAVLINK_MSG_ID_LOCAL_POSITION_NED:
        {
            if(msg->sysid == mavlink_system.sysid && wpm.current_active_wp_id < wpm.size)
            {
                mavlink_mission_item_t *wp = &(wpm.waypoints[wpm.current_active_wp_id]);
                                
                if(wp->frame == MAV_FRAME_LOCAL_ENU || MAV_FRAME_LOCAL_NED)
                {
                    mavlink_local_position_ned_t pos;
                    mavlink_msg_local_position_ned_decode(msg, &pos);
                                        
                    wpm.pos_reached = false;
                                        
                    // compare current position (given in message) with current waypoint
                    float orbit = wp->param1;
                                        
                    float dist;
//                    if (wp->param2 == 0)
//                    {
//                                              // FIXME segment distance
//                        //dist = mavlink_wpm_distance_to_segment(current_active_wp_id, pos.x, pos.y, pos.z);
//                    }
//                    else
//                    {
                        dist = mavlink_wpm_distance_to_point(wpm.current_active_wp_id, pos.x, pos.y, pos.z);
//                    }
                                        
                    if (dist >= 0.f && dist <= orbit && wpm.yaw_reached)
                    {
                        wpm.pos_reached = true;
                    }
                }
            }
            break;
        }
                        
//              case MAVLINK_MSG_ID_CMD: // special action from ground station
//        {
//            mavlink_cmd_t action;
//            mavlink_msg_cmd_decode(msg, &action);
//            if(action.target == mavlink_system.sysid)
//            {
//                // if (verbose) std::cerr << "Waypoint: received message with action " << action.action << std::endl;
//                switch (action.action)
//                {
//                                              //                              case MAV_ACTION_LAUNCH:
//                                              //                                      // if (verbose) std::cerr << "Launch received" << std::endl;
//                                              //                                      current_active_wp_id = 0;
//                                              //                                      if (wpm.size>0)
//                                              //                                      {
//                                              //                                              setActive(waypoints[current_active_wp_id]);
//                                              //                                      }
//                                              //                                      else
//                                              //                                              // if (verbose) std::cerr << "No launch, waypointList empty" << std::endl;
//                                              //                                      break;
//                                              
//                                              //                              case MAV_ACTION_CONTINUE:
//                                              //                                      // if (verbose) std::c
//                                              //                                      err << "Continue received" << std::endl;
//                                              //                                      idle = false;
//                                              //                                      setActive(waypoints[current_active_wp_id]);
//                                              //                                      break;
//                                              
//                                              //                              case MAV_ACTION_HALT:
//                                              //                                      // if (verbose) std::cerr << "Halt received" << std::endl;
//                                              //                                      idle = true;
//                                              //                                      break;
//                                              
//                                              //                              default:
//                                              //                                      // if (verbose) std::cerr << "Unknown action received with id " << action.action << ", no action taken" << std::endl;
//                                              //                                      break;
//                }
//            }
//            break;
//        }
                        
                case MAVLINK_MSG_ID_MISSION_ACK:
        {
            mavlink_mission_ack_t wpa;
            mavlink_msg_mission_ack_decode(msg, &wpa);
                        
            if((msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid) && (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/))
            {
                wpm.timestamp_lastaction = now;
                                
                if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST || wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS)
                {
                    if (wpm.current_wp_id == wpm.size-1)
                    {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("Got last WP ACK state -> IDLE");
#else
                if (MAVLINK_WPM_VERBOSE) printf("Received ACK after having sent last waypoint, going to state MAVLINK_WPM_STATE_IDLE\n");
#endif
                                                wpm.current_state = MAVLINK_WPM_STATE_IDLE;
                        wpm.current_wp_id = 0;
                    }
                }
            }
                        else
                        {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("REJ. WP CMD: curr partner id mismatch");
#else
                if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n");
#endif
                        }
            break;
        }
                        
                case MAVLINK_MSG_ID_MISSION_SET_CURRENT:
        {
            mavlink_mission_set_current_t wpc;
            mavlink_msg_mission_set_current_decode(msg, &wpc);
                        
            if(wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/)
            {
                wpm.timestamp_lastaction = now;
                                
                if (wpm.current_state == MAVLINK_WPM_STATE_IDLE)
                {
                    if (wpc.seq < wpm.size)
                    {
                        // if (verbose) // printf("Received MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT\n");
                        wpm.current_active_wp_id = wpc.seq;
                        uint32_t i;
                        for(i = 0; i < wpm.size; i++)
                        {
                            if (i == wpm.current_active_wp_id)
                            {
                                wpm.waypoints[i].current = true;
                            }
                            else
                            {
                                wpm.waypoints[i].current = false;
                            }
                        }
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("NEW WP SET");
#else
                if (MAVLINK_WPM_VERBOSE) printf("New current waypoint %u\n", wpm.current_active_wp_id);
#endif
                        wpm.yaw_reached = false;
                        wpm.pos_reached = false;
                        mavlink_wpm_send_waypoint_current(wpm.current_active_wp_id);
                        mavlink_wpm_send_setpoint(wpm.current_active_wp_id);
                        wpm.timestamp_firstinside_orbit = 0;
                    }
                    else
                    {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list");
#else
                if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT: Index out of bounds\n");
#endif
                    }
                }
                                else
                                {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy");
#else
                if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE NOT IN IDLE STATE\n");
#endif
                                }
            }
                        else
                        {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch");
#else
                if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n");
#endif
                        }
            break;
        }
                        
                case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
        {
            mavlink_mission_request_list_t wprl;
            mavlink_msg_mission_request_list_decode(msg, &wprl);
            if(wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/)
            {
                wpm.timestamp_lastaction = now;
                                
                if (wpm.current_state == MAVLINK_WPM_STATE_IDLE || wpm.current_state == MAVLINK_WPM_STATE_SENDLIST)
                {
                    if (wpm.size > 0)
                    {
                        //if (verbose && wpm.current_state == MAVLINK_WPM_STATE_IDLE) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u changing state to MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid);
//                        if (verbose && wpm.current_state == MAVLINK_WPM_STATE_SENDLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST again from %u staying in state MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid);
                        wpm.current_state = MAVLINK_WPM_STATE_SENDLIST;
                        wpm.current_wp_id = 0;
                        wpm.current_partner_sysid = msg->sysid;
                        wpm.current_partner_compid = msg->compid;
                    }
                    else
                    {
                        // if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u but have no waypoints, staying in \n", msg->sysid);
                    }
                    wpm.current_count = wpm.size;
                    mavlink_wpm_send_waypoint_count(msg->sysid,msg->compid, wpm.current_count);
                }
                else
                {
                    // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST because i'm doing something else already (state=%i).\n", wpm.current_state);
                }
            }
                        else
                        {
                                // if (verbose) // printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT MISMATCH\n");
                        }

            break;
        }
                        
                case MAVLINK_MSG_ID_MISSION_REQUEST:
        {
            mavlink_mission_request_t wpr;
            mavlink_msg_mission_request_decode(msg, &wpr);
            if(msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid && wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/)
            {
                wpm.timestamp_lastaction = now;
                                
                //ensure that we are in the correct state and that the first request has id 0 and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint)
                if ((wpm.current_state == MAVLINK_WPM_STATE_SENDLIST && wpr.seq == 0) || (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && (wpr.seq == wpm.current_wp_id || wpr.seq == wpm.current_wp_id + 1) && wpr.seq < wpm.size))
                {
                    if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST)
                    {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("GOT WP REQ, state -> SEND");
#else
                if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid);
#endif
                    }
                    if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm.current_wp_id + 1)
                    {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ");
#else
                if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid);
#endif
                    }
                    if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm.current_wp_id)
                    {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ");
#else
                if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid);
#endif
                    }
                                        
                    wpm.current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS;
                    wpm.current_wp_id = wpr.seq;
                    mavlink_wpm_send_waypoint(wpm.current_partner_sysid, wpm.current_partner_compid, wpr.seq);
                }
                else
                {
                    // if (verbose)
                    {
                        if (!(wpm.current_state == MAVLINK_WPM_STATE_SENDLIST || wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS))
                                                {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
#else
                if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).\n", wpm.current_state);
#endif
                break;
                                                }
                        else if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST)
                        {
                            if (wpr.seq != 0)
                                                        {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0");
#else
                if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the first requested waypoint ID (%u) was not 0.\n", wpr.seq);
#endif
                                                        }
                        }
                        else if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS)
                        {
                            if (wpr.seq != wpm.current_wp_id && wpr.seq != wpm.current_wp_id + 1)
                                                        {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected");
#else
                if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).\n", wpr.seq, wpm.current_wp_id, wpm.current_wp_id+1);
#endif
                                                        }
                                                        else if (wpr.seq >= wpm.size)
                                                        {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list");
#else
                if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.\n", wpr.seq);
#endif
                                                        }
                        }
                        else
                                                {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?");
#else
                if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST - FIXME: missed error description\n");
#endif
                                                }
                    }
                }
            }
            else
            {
                //we we're target but already communicating with someone else
                if((wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid))
                {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
#else
                if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.\n", msg->sysid, wpm.current_partner_sysid);
#endif
                }
                                else
                                {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch");
#else
                if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n");
#endif
                                }

            }
            break;
        }
                        
                case MAVLINK_MSG_ID_MISSION_COUNT:
        {
            mavlink_mission_count_t wpc;
            mavlink_msg_mission_count_decode(msg, &wpc);
            if(wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/)
            {
                wpm.timestamp_lastaction = now;
                                
                if (wpm.current_state == MAVLINK_WPM_STATE_IDLE || (wpm.current_state == MAVLINK_WPM_STATE_GETLIST && wpm.current_wp_id == 0))
                {
                    if (wpc.count > 0)
                    {
                        if (wpm.current_state == MAVLINK_WPM_STATE_IDLE)
                        {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("WP CMD OK: state -> GETLIST");
#else
                if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST\n", wpc.count, msg->sysid);
#endif
                        }
                        if (wpm.current_state == MAVLINK_WPM_STATE_GETLIST)
                        {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN");
#else
                if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u\n", wpc.count, msg->sysid);
#endif
                        }
                                                
                        wpm.current_state = MAVLINK_WPM_STATE_GETLIST;
                        wpm.current_wp_id = 0;
                        wpm.current_partner_sysid = msg->sysid;
                        wpm.current_partner_compid = msg->compid;
                        wpm.current_count = wpc.count;
                                                
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("CLR RCV BUF: READY");
#else
                if (MAVLINK_WPM_VERBOSE) printf("clearing receive buffer and readying for receiving waypoints\n");
#endif
                                                wpm.rcv_size = 0;
                        //while(waypoints_receive_buffer->size() > 0)
//                        {
//                            delete waypoints_receive_buffer->back();
//                            waypoints_receive_buffer->pop_back();
//                        }
                                                
                        mavlink_wpm_send_waypoint_request(wpm.current_partner_sysid, wpm.current_partner_compid, wpm.current_wp_id);
                    }
                    else if (wpc.count == 0)
                    {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("COUNT 0");
#else
                if (MAVLINK_WPM_VERBOSE) printf("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE\n");
#endif
                                                wpm.rcv_size = 0;
                        //while(waypoints_receive_buffer->size() > 0)
//                        {
//                            delete waypoints->back();
//                            waypoints->pop_back();
//                        }
                        wpm.current_active_wp_id = -1;
                        wpm.yaw_reached = false;
                        wpm.pos_reached = false;
                        break;
                                                
                    }
                    else
                    {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("IGN WP CMD");
#else
                if (MAVLINK_WPM_VERBOSE) printf("Ignoring MAVLINK_MSG_ID_MISSION_ITEM_COUNT from %u with count of %u\n", msg->sysid, wpc.count);
#endif
                    }
                }
                else
                {
                    if (!(wpm.current_state == MAVLINK_WPM_STATE_IDLE || wpm.current_state == MAVLINK_WPM_STATE_GETLIST))
                                        {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
#else
                if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm doing something else already (state=%i).\n", wpm.current_state);
#endif
                                        }
                    else if (wpm.current_state == MAVLINK_WPM_STATE_GETLIST && wpm.current_wp_id != 0)
                                        {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
#else
                if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.\n", wpm.current_wp_id);
#endif
                                        }
                    else
                                        {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?");
#else
                if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT - FIXME: missed error description\n");
#endif
                                        }
                }
            }
                        else
                        {
#ifdef MAVLINK_WPM_NO_PRINTF
        mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch");
#else
                if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n");
#endif
                        }
            
        }
                        break;
                        
                case MAVLINK_MSG_ID_MISSION_ITEM:
        {
            mavlink_mission_item_t wp;
            mavlink_msg_mission_item_decode(msg, &wp);
                        
                        mavlink_missionlib_send_gcs_string("GOT WP");
                        
            if((msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid) && (wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/))
            {
                wpm.timestamp_lastaction = now;
                                
                //ensure that we are in the correct state and that the first waypoint has id 0 and the following waypoints have the correct ids
                if ((wpm.current_state == MAVLINK_WPM_STATE_GETLIST && wp.seq == 0) || (wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm.current_wp_id && wp.seq < wpm.current_count))
                {
//                    if (verbose && wpm.current_state == MAVLINK_WPM_STATE_GETLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u changing state to MAVLINK_WPM_STATE_GETLIST_GETWPS\n", wp.seq, msg->sysid);
//                    if (verbose && wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm.current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u\n", wp.seq, msg->sysid);
//                    if (verbose && wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq-1 == wpm.current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u (again) from %u\n", wp.seq, msg->sysid);
//                                      
                    wpm.current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS;
                    mavlink_mission_item_t* newwp = &(wpm.rcv_waypoints[wp.seq]);
                    memcpy(newwp, &wp, sizeof(mavlink_mission_item_t));
                                        wpm.current_wp_id = wp.seq + 1;
                                        
                    // if (verbose) // printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4);
                                        
                    if(wpm.current_wp_id == wpm.current_count && wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS)
                    {
                                                mavlink_missionlib_send_gcs_string("GOT ALL WPS");
                        // if (verbose) // printf("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm.current_count);
                                                
                        mavlink_wpm_send_waypoint_ack(wpm.current_partner_sysid, wpm.current_partner_compid, 0);
                                                
                        if (wpm.current_active_wp_id > wpm.rcv_size-1)
                        {
                            wpm.current_active_wp_id = wpm.rcv_size-1;
                        }
                                                
                        // switch the waypoints list
                                                // FIXME CHECK!!!
                                                for (int i = 0; i < wpm.current_count; ++i)
                                                {
                                                        wpm.waypoints[i] = wpm.rcv_waypoints[i];
                                                }
                                                wpm.size = wpm.current_count;
                                                
                        //get the new current waypoint
                        uint32_t i;
                        for(i = 0; i < wpm.size; i++)
                        {
                            if (wpm.waypoints[i].current == 1)
                            {
                                wpm.current_active_wp_id = i;
                                wpm.yaw_reached = false;
                                wpm.pos_reached = false;
                                                                mavlink_wpm_send_waypoint_current(wpm.current_active_wp_id);
                                mavlink_wpm_send_setpoint(wpm.current_active_wp_id);
                                                                wpm.timestamp_firstinside_orbit = 0;
                                break;
                            }
                        }
                                                
                        if (i == wpm.size)
                        {
                            wpm.current_active_wp_id = -1;
                            wpm.yaw_reached = false;
                            wpm.pos_reached = false;
                            wpm.timestamp_firstinside_orbit = 0;
                        }
                                                
                        wpm.current_state = MAVLINK_WPM_STATE_IDLE;
                    }
                    else
                    {
                        mavlink_wpm_send_waypoint_request(wpm.current_partner_sysid, wpm.current_partner_compid, wpm.current_wp_id);
                    }
                }
                else
                {
                    if (wpm.current_state == MAVLINK_WPM_STATE_IDLE)
                    {
                        //we're done receiving waypoints, answer with ack.
                        mavlink_wpm_send_waypoint_ack(wpm.current_partner_sysid, wpm.current_partner_compid, 0);
                        // printf("Received MAVLINK_MSG_ID_MISSION_ITEM while state=MAVLINK_WPM_STATE_IDLE, answered with WAYPOINT_ACK.\n");
                    }
                    // if (verbose)
                    {
                        if (!(wpm.current_state == MAVLINK_WPM_STATE_GETLIST || wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS))
                                                {
                                                        // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u because i'm doing something else already (state=%i).\n", wp.seq, wpm.current_state);
                                                        break;
                                                }
                        else if (wpm.current_state == MAVLINK_WPM_STATE_GETLIST)
                        {
                            if(!(wp.seq == 0))
                                                        {
                                                                // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.\n", wp.seq);
                                                        }
                            else
                                                        {
                                                                // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq);
                                                        }
                        }
                        else if (wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS)
                        {
                            if (!(wp.seq == wpm.current_wp_id))
                                                        {
                                                                // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.\n", wp.seq, wpm.current_wp_id);
                                                        }
                            else if (!(wp.seq < wpm.current_count))
                                                        {
                                                                // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.\n", wp.seq);
                                                        }
                            else
                                                        {
                                                                // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq);
                                                        }
                        }
                        else
                                                {
                                                        // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq);
                                                }
                    }
                }
            }
            else
            {
                //we we're target but already communicating with someone else
                if((wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid) && wpm.current_state != MAVLINK_WPM_STATE_IDLE)
                {
                    // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i'm already talking to ID %u.\n", wp.seq, msg->sysid, wpm.current_partner_sysid);
                }
                else if(wp.target_system == mavlink_system.sysid /* && wp.target_component == mavlink_wpm_comp_id*/)
                {
                    // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i have no idea what to do with it\n", wp.seq, msg->sysid);
                }
            }
            break;
        }
                        
                case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
        {
            mavlink_mission_clear_all_t wpca;
            mavlink_msg_mission_clear_all_decode(msg, &wpca);
                        
            if(wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm.current_state == MAVLINK_WPM_STATE_IDLE)
            {
                wpm.timestamp_lastaction = now;
                                
                // if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u deleting all waypoints\n", msg->sysid);
                // Delete all waypoints
                                wpm.size = 0;
                wpm.current_active_wp_id = -1;
                wpm.yaw_reached = false;
                wpm.pos_reached = false;
            }
            else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm.current_state != MAVLINK_WPM_STATE_IDLE)
            {
                // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u because i'm doing something else already (state=%i).\n", msg->sysid, wpm.current_state);
            }
            break;
        }
                        
                default:
        {
            // if (debug) // printf("Waypoint: received message of unknown type");
            break;
        }
    }
        
    //check if the current waypoint was reached
    if (wpm.pos_reached /*wpm.yaw_reached &&*/ && !wpm.idle)
    {
        if (wpm.current_active_wp_id < wpm.size)
        {
            mavlink_mission_item_t *cur_wp = &(wpm.waypoints[wpm.current_active_wp_id]);
                        
            if (wpm.timestamp_firstinside_orbit == 0)
            {
                // Announce that last waypoint was reached
                // if (verbose) // printf("*** Reached waypoint %u ***\n", cur_wp->seq);
                mavlink_wpm_send_waypoint_reached(cur_wp->seq);
                wpm.timestamp_firstinside_orbit = now;
            }
                        
            // check if the MAV was long enough inside the waypoint orbit
            //if (now-timestamp_lastoutside_orbit > (cur_wp->hold_time*1000))
            if(now-wpm.timestamp_firstinside_orbit >= cur_wp->param2*1000)
            {
                if (cur_wp->autocontinue)
                {
                    cur_wp->current = 0;
                    if (wpm.current_active_wp_id == wpm.size - 1 && wpm.size > 1)
                    {
                        //the last waypoint was reached, if auto continue is
                        //activated restart the waypoint list from the beginning
                        wpm.current_active_wp_id = 1;
                    }
                    else
                    {
                        if ((uint16_t)(wpm.current_active_wp_id + 1) < wpm.size)
                            wpm.current_active_wp_id++;
                    }
                                        
                    // Fly to next waypoint
                    wpm.timestamp_firstinside_orbit = 0;
                    mavlink_wpm_send_waypoint_current(wpm.current_active_wp_id);
                    mavlink_wpm_send_setpoint(wpm.current_active_wp_id);
                    wpm.waypoints[wpm.current_active_wp_id].current = true;
                    wpm.pos_reached = false;
                    wpm.yaw_reached = false;
                    // if (verbose) // printf("Set new waypoint (%u)\n", wpm.current_active_wp_id);
                }
            }
        }
    }
    else
    {
        wpm.timestamp_lastoutside_orbit = now;
    }
}