Skip to content

Mav Upload

Header | Source code

Note: This tick (and FlyWaypoints) are both special in that they can be used at different contexts in the mission. Both take some parameter that specifies what should happen when the tick is completed, alongside some more specialized parameters to tune the behavior of the tick to be what you want for that specific moment in time.

This tick handles uploading geofence and waypoint information via mavlink to the flight controller

This tick takes three unique parameters:

  1. next_tick: an instantiation of the tick to transition to after the mission upload is complete
    • Note: because you have to create it at this point, any behavior in the constructor will end up running before the mission has actually been uploaded.
  2. waypoints: the waypoints to upload to the flight controller
  3. upload_geofence: whether or not to upload the geofence information based on the uploaded mission inside of MissionState

Look here to see the Mavlink Client code that actually uploads the mission.