Fill out MISSION_CURRENT.mission_state for MAVlink

[MaEtUgR]

Solved Problem

@cmic0 brought up to me that we should populate the field MISSION_CURRENT.mission_state which is sent out via MAVLink.

Solution

I started populating it based on the uORB message mission_result with the main goal to at least see if there is a mission at all and when it is finished. But there are many uncovered cases still:

1. What happens when there's no update of mission_result on uORB, the message is then zero initialized and wrong data gets populated.
2. When exactly to fill the states NOT_STARTED, ACTIVE, PAUSED because the mission_result is also updated in land, takeoff, VTOL takeoff situations and not just mission mode, also mission mode would need to be checked separately which together with the scheduling on mission_result updates wouldn't work out well. So I think the structure needs to be changed and the mission state kept and updated as part of the mission interface for these to be correct.

Changelog Entry

Fill out MISSION_CURRENT.mission_state for MAVlink

Test coverage

This is work in progress and needs further case handling and testing. We could just will the states we know like e.g. finished only and leave the rest for now 🤔

[github-actions]

🔎 FLASH Analysis

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Updated: 2025-01-30T15:25:15