mavlink mission: set mission_type in mavlink_mission_count_t message

src/modules/mavlink/mavlink_mission.cpp

@@ -294,7 +294,7 @@ MavlinkMissionManager::send_mission_current(uint16_t seq)
 
 
 void
-MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count)
+MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count, MAV_MISSION_TYPE mission_type)
 {
 	_time_last_sent = hrt_absolute_time();
 
@@ -303,6 +303,7 @@ MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_
 	wpc.target_system = sysid;
 	wpc.target_component = compid;
 	wpc.count = count;
+	wpc.mission_type = mission_type;
 
 	mavlink_msg_mission_count_send_struct(_mavlink->get_channel(), &wpc);
 
@@ -529,9 +530,7 @@ MavlinkMissionManager::send(const hrt_abstime now)
 		   && hrt_elapsed_time(&_time_last_sent) > _retry_timeout) {
 		if (_transfer_seq == 0) {
 			/* try to send items count again after timeout */
-			if (_verbose) { warnx("WPM: send count timeout"); }
-
-			send_mission_count(_transfer_partner_sysid, _transfer_partner_compid, _transfer_count);
+			send_mission_count(_transfer_partner_sysid, _transfer_partner_compid, _transfer_count, _mission_type);
 
 		} else {
 			/* try to send item again after timeout */
@@ -741,7 +740,7 @@ MavlinkMissionManager::handle_mission_request_list(const mavlink_message_t *msg)
 				if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST OK nothing to send, mission is empty"); }
 			}
 
-			send_mission_count(msg->sysid, msg->compid, _transfer_count);
+			send_mission_count(msg->sysid, msg->compid, _transfer_count, _mission_type);
 
 		} else {
 			if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST ERROR: busy"); }
@@ -1541,6 +1540,7 @@ void MavlinkMissionManager::check_active_mission()
 		if (_verbose) { warnx("WPM: New mission detected (possibly over different Mavlink instance) Updating"); }
 
 		_my_dataman_id = _dataman_id;
-		send_mission_count(_transfer_partner_sysid, _transfer_partner_compid, _count[(uint8_t)MAV_MISSION_TYPE_MISSION]);
+		send_mission_count(_transfer_partner_sysid, _transfer_partner_compid, _count[(uint8_t)MAV_MISSION_TYPE_MISSION],
+				   MAV_MISSION_TYPE_MISSION);
 	}
 }

src/modules/mavlink/mavlink_mission.h

@@ -185,7 +185,7 @@ private:
 	 */
 	void send_mission_current(uint16_t seq);
 
-	void send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count);
+	void send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count, MAV_MISSION_TYPE mission_type);
 
 	void send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq);
 

src/modules/navigator/geofence.h

@@ -43,10 +43,6 @@
 
 #include <cfloat>
 
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_gps_position.h>
-#include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/home_position.h>
 #include <controllib/blocks.hpp>
 #include <controllib/block/BlockParam.hpp>
 #include <controllib/blocks.hpp>
@@ -142,9 +138,6 @@ public:
 private:
 	Navigator	*_navigator{nullptr};
 
-	home_position_s _home_pos{0};
-	bool _home_pos_set{false};
-
 	hrt_abstime _last_horizontal_range_warning{0};
 	hrt_abstime _last_vertical_range_warning{0};