upload

R2026b

Upload mission to remote MAVLink client

Since R2026b

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    Syntax

    [status,ack] = upload(mission,mavlinkclient,missionData)

    Description

    [status,ack] = upload(mission,mavlinkclient,missionData) uploads mission data to the remote MAVLink client mavlinkclient. The function returns the mission upload status and the acknowledgment message returned by the remote MAVLink client.

    example

    Examples

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    Upload a mission to a Pixhawk® 4 board running PX4® firmware by using the mission microservice.

    Create a mavlinkdialect object using the common.xml file.

    dialect = mavlinkdialect("common.xml");

    Create a local MAVLink client by using the mavlinkio object.

    gcs = mavlinkio(dialect);

    Store the remote MAVLink client information by using the mavlinkclient object. This Pixhawk board has a system ID of 1 and a component ID of 1.

    uav = mavlinkclient(gcs,1,1);

    Connect the local MAVLink client to the same serial port as the Pixhawk board by using the connect function. This Pixhawk board uses the COM5 port.

    connect(gcs,"Serial",SerialPort="COM5");

    Create a heartbeat microservice object.

    heartbeat = mavlinkmicroservice(gcs,"heartbeat");

    Start sending the HEARTBEAT messages to the Pixhawk board by using the start function.

    start(heartbeat,uav,"Serial",SerialPort="COM5")

    If the Pixhawk board replies with HEARTBEAT messages, a connection is established.

    Verify that the connection has been established by using the listClients function.

    listClients(gcs)
    ans = 2×4 table
    SystemID    ComponentID       ComponentType             AutopilotType     
    ________    ___________    ____________________    _______________________

      255            1            "MAV_TYPE_GCS"        "MAV_AUTOPILOT_INVALID"
       1             1         "MAV_TYPE_QUADROTOR"       "MAV_AUTOPILOT_PX4"

    Create a mission microservice object.

    mission = mavlinkmicroservice(gcs,"mission");

    Upload the mission SampleMission.plan to the Pixhawk board by using the upload function. The function returns the upload status and acknowledgement message.

    [status,ack] = upload(mission,uav,"SampleMission.plan")
    status = true
ack = 
  struct with fields:

       target_system : 255
    target_component : 1
                type : 0
        mission_type : 0

    Input Arguments

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    Mission microservice, specified as a missionMicroservice object.

    Remote MAVLink client information, specified as a mavlinkclient object.

    Mission data to upload, specified as one of these options:

    • uavMission object

    • Path to a PX4 mission file (.plan), specified as a string scalar

    • Path to a MAVLink waypoints file (.waypoints), specified as a string scalar

    Example: "documents/SampleMission.plan"

    Output Arguments

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    Mission upload status, returned as a 1 or 0 of data type logical. The value is 1 (true) when the local MAVLink client receives the acknowledgement message without exceeding the maximum time and number of retries.

    Data Types: logical

    Mission acknowledgement message, returned as a structure with these fields:

    • target_system — Local MAVLink system ID, returned as an integer in the range [1, 255].

    • target_component — Local MAVLink component ID, returned as an integer in the range [0, 255].

    • type — Result of mission operation, returned as an integer corresponding to a value from the MAV_MISSION_RESULT enum.

    • mission_type — Type of mission items sent in mission protocol, returned as an integer corresponding to a value from the MAV_MISSION_TYPE enum.

    Tip

    To view the available MAV_MISSION_TYPE enum values, use the enuminfo function. For example, to find the values of the MAV_MISSION_TYPE enum:

    info = enuminfo(dialect,"MAV_MISSION_TYPE");
info.Entries{:}
    where dialect is the MAVLink dialect object that you specify when you create the local MAVLink client.

    Version History

    Introduced in R2026b

    See Also

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    External Websites