Struct MissionItem

Namespace

MavNet.PX4.Missions

Assembly

MavNet.PX4.dll

Protocol-shaped mission item — mirrors the MAVLink MISSION_ITEM_INT wire layout but without the per-transaction fields (Seq, TargetSystem, TargetComponent, MissionType). MissionClient stamps those in when it sends each item.

Coordinate scaling matches the spec: for global frames, X / Y are degrees × 1e7; for local frames, metres × 1e4. Z is always a float. Use the static factories (Waypoint, Takeoff, Land, ReturnToLaunch) to avoid hand-scaling.

The same record is used for waypoint, geofence, and rally-point missions — the Command field plus MAV_MISSION_TYPE (passed to the MissionClient) determine the semantics.

public readonly record struct MissionItem : IEquatable<MissionItem>

Implements

IEquatable<MissionItem>

Inherited Members

ValueType.Equals(object)

ValueType.GetHashCode()

ValueType.ToString()

object.Equals(object, object)

object.GetType()

object.ReferenceEquals(object, object)

Constructors

MissionItem(MavFrame, MavCmd, float, float, float, float, int, int, float, byte)

Protocol-shaped mission item — mirrors the MAVLink MISSION_ITEM_INT wire layout but without the per-transaction fields (Seq, TargetSystem, TargetComponent, MissionType). MissionClient stamps those in when it sends each item.

Coordinate scaling matches the spec: for global frames, X / Y are degrees × 1e7; for local frames, metres × 1e4. Z is always a float. Use the static factories (Waypoint, Takeoff, Land, ReturnToLaunch) to avoid hand-scaling.

The same record is used for waypoint, geofence, and rally-point missions — the Command field plus MAV_MISSION_TYPE (passed to the MissionClient) determine the semantics.

public MissionItem(MavFrame Frame, MavCmd Command, float Param1, float Param2, float Param3, float Param4, int X, int Y, float Z, byte AutoContinue = 1)

Parameters

Frame MavFrame

Command MavCmd

Param1 float

Param2 float

Param3 float

Param4 float

X int

Y int

Z float

AutoContinue byte

Properties

AutoContinue

public byte AutoContinue { get; init; }

Property Value

byte

Command

public MavCmd Command { get; init; }

Property Value

MavCmd

Frame

public MavFrame Frame { get; init; }

Property Value

MavFrame

Param1

public float Param1 { get; init; }

Property Value

float

Param2

public float Param2 { get; init; }

Property Value

float

Param3

public float Param3 { get; init; }

Property Value

float

Param4

public float Param4 { get; init; }

Property Value

float

X

public int X { get; init; }

Property Value

int

Y

public int Y { get; init; }

Property Value

int

Z

public float Z { get; init; }

Property Value

float

Methods

FromInt1e7(int)

Decode MAVLink int32 (× 1e7) back to degrees.

public static double FromInt1e7(int scaled)

Parameters

scaled int

Returns

double

Land(double, double, float, MavFrame)

Build a NAV_LAND item at the given coordinate. abortAlt is the minimum altitude (m) the autopilot may abort a landing at (param1).

public static MissionItem Land(double latDeg, double lonDeg, float abortAlt = 0, MavFrame frame = MavFrame.GlobalRelativeAltInt)

Parameters

latDeg double

lonDeg double

abortAlt float

frame MavFrame

Returns

MissionItem

ReturnToLaunch()

Build a NAV_RETURN_TO_LAUNCH item.

public static MissionItem ReturnToLaunch()

Returns

MissionItem

Takeoff(double, double, float, float, MavFrame)

Build a NAV_TAKEOFF item at an explicit coordinate (latDeg, lonDeg, altMeters).

public static MissionItem Takeoff(double latDeg, double lonDeg, float altMeters, float pitch = 0, MavFrame frame = MavFrame.GlobalRelativeAltInt)

Parameters

latDeg double

lonDeg double

altMeters float

pitch float

frame MavFrame

Returns

MissionItem

Takeoff(float, float, MavFrame)

Build a NAV_TAKEOFF item with X/Y emitted as 0 and Z = altMeters. Per the MISSION_ITEM_INT encoding 0 is the literal coordinate 0.0000000°, not an "unset"/"current position" sentinel — the protocol has no unset. Use Takeoff(double, double, float, float, MavFrame) to send a takeoff coordinate.

public static MissionItem Takeoff(float altMeters, float pitch = 0, MavFrame frame = MavFrame.GlobalRelativeAltInt)

Parameters

altMeters float

pitch float

frame MavFrame

Returns

MissionItem

ToInt1e7(double)

Encode degrees to MAVLink int32 (× 1e7), rounding half-away-from-zero.

public static int ToInt1e7(double degrees)

Parameters

degrees double

Returns

int

Waypoint(double, double, float, float, float, MavFrame)

Build a NAV_WAYPOINT item from human-friendly degrees/metres. hold is the time-to-hold in seconds at the waypoint (param1); acceptanceRadius is the radius (m) within which the waypoint is considered reached (param2).

public static MissionItem Waypoint(double latDeg, double lonDeg, float altMeters, float hold = 0, float acceptanceRadius = 0, MavFrame frame = MavFrame.GlobalRelativeAltInt)

Parameters

latDeg double

lonDeg double

altMeters float

hold float

acceptanceRadius float

frame MavFrame

Returns

MissionItem