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fix(mavlink): execute CONDITION_DELAY mission items as NAV_DELAY #27453

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Merged
hamishwillee merged 1 commit into from
Jun 3, 2026
Merged

fix(mavlink): execute CONDITION_DELAY mission items as NAV_DELAY #27453

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7 changes: 6 additions & 1 deletion src/modules/mavlink/mavlink_mission.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1639,14 +1639,19 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
case MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET:
case MAV_CMD_DO_SET_ROI_NONE:
case MAV_CMD_CONDITION_DELAY:
case MAV_CMD_CONDITION_DISTANCE:
case MAV_CMD_DO_SET_ACTUATOR:
case MAV_CMD_DO_AUTOTUNE_ENABLE:
case MAV_CMD_COMPONENT_ARM_DISARM:
mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
break;

case MAV_CMD_CONDITION_DELAY:
// PX4 has no dedicated condition-delay execution; treat it as a NAV_DELAY,
// which holds for param1 (stored in params[0], aliasing time_inside) seconds.
mission_item->nav_cmd = NAV_CMD_DELAY;
break;

default:
mission_item->nav_cmd = NAV_CMD_INVALID;

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