ardupilot/mission-planning: Don't answer the same item request twice… #353
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…e twice... ...unless it's the last mission point. With previous approach, the same mission item was being sent over and over after being requested, to guarantee the item reached the vehicle, but this was causing the vehicle to think we were sending older items (e.g.: vehicle already requesting item 1 and we still sending item 0 because the item 1 request still didn't reach us). With the new approach, we send an aswer (mission item) only once per request, so if our message is lost, we expect the vehicle to request again. The only exception is the last item. We send it over and over till receiveing the mission upload acknowledgment.
Williangalvani
approved these changes
Jun 5, 2023
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...unless it's the last mission point.
With the previous approach, the same mission item was being sent over and over after being requested, to guarantee the item reached the vehicle, but this was causing the vehicle to think we were sending older items (e.g.: vehicle already requesting item 1, and we're still sending item 0 because the item 1 request still didn't reach us).
With the new approach, we send an answer (mission item) only once per request, so if our message is lost, we expect the vehicle to request again.
The only exception is the last item. We send it over and over till receiving the mission upload acknowledgment.
Thanks, @joaoantoniocardoso, for the idea on how to solve the problem.
Fix #351