Navigator Mission: Improve mission resume

[sfuhrer]

Replaces #21643. I've tried to clean up the logic a bit and make it less entangled.

Solved Problem

Survey mission contain, beside the position items, contain items for gimbal config, camera mode config, and camera trigger. When the execution of a mission is stopped, we want also to stop the camera from taking pictures and move the gimbal back to neutral. Upon resuming the mission though, we have to re-configure gimbal and camera and start the triggering once back on the mission path.

Solution

Store (cache) all gimbal/camera/trigger mission items and replay them on resuming the mission. In detail:

• on_inactivation() store the currently active index as _inactivation_index
• on_activation(), store all gimbal/camera/trigger items up to the currently active index and reset the mission to the previous. Also set flag (_align_heading_necessary) that a yaw alignment is required upon reaching this waypoint (we want to only start triggering once yaw is correctly aligned with next WP).
• on_active()
  • if _align_heading_necessary is set and mission item is reached, update current item with yaw field and force it to accept that one before starting the trigger.
  • read the gimbal and camera mode command items from cache, thus making the gimbal move to the right orientation and setting the right camera mode
  • read the trigger commands once the previous waypoint incl. yaw alignment is accepted

Further:

• reset cached items if mission is updated
• reset mission on disarmed only if we reached the last mission item, otherwise keep

Changelog Entry

For release notes:

Feature: Improve mission resume (e.g. replay gimbal and camera commands of a survey)
Documentation: Need to clarify page

Alternatives

It would be nice to not resume the mission from the previous mission item but from the actual lat/lon position where the mission was interrupted.

Test coverage

SITL tested.

[RomanBapst]

@sfuhrer LGTM. I hard a hard time understanding how the mission item is set when resuming the survey without calling set_mission_items but then I realized that set_current_mission_index does it under the hood :-p

[RomanBapst]

Added comments in the code

[RomanBapst]

@sfuhrer Flash overflow :-(

[sfuhrer]

@sfuhrer Flash overflow :-(

v4_test indeed is at 100.00%..in an effort to bring it slightly down I've removed some rather unnecessary params and made some other param descriptions more compact, let's see if that's enough.

[sfuhrer]

@sfuhrer Flash overflow :-(

v4_test indeed is at 100.00%..in an effort to bring it slightly down I've removed some rather unnecessary params and made some other param descriptions more compact, let's see if that's enough.

That wasn't enough. I've proposed to remove the gyro FFT instead: #20811