Missions client

Use IMissionClient when you need direct mission protocol operations from a client device.

var mission = device.GetMicroservice<IMissionClient>()
    ?? throw new Exception("Mission client not found");

Basic download flow (same idea as show-mission CLI command):

var count = await mission.MissionRequestCount(cancel);
for (ushort i = 0; i < count; i++)
{
    var item = await mission.MissionRequestItem(i, cancel);
    Console.WriteLine($"#{item.Seq}: {item.Command}");
}

Set current item:

await mission.MissionSetCurrent(0, cancel);

Clear remote mission:

await mission.ClearAll(MavMissionType.MavMissionTypeMission, cancel);

MissionClientConfig

Property	Type	Default	Description
`CommandTimeoutMs`	`int`	`1000`	Timeout for request/response mission calls.
`AttemptToCallCount`	`int`	`3`	Retry count for request/response calls.

IMissionClient

Represents a client for interacting with missions.

Property	Type	Description
`MissionCurrent`	`ReadOnlyReactiveProperty<ushort>`	Current mission item index from remote side.
`MissionReached`	`ReadOnlyReactiveProperty<ushort>`	Last reached mission item index.
`OnMissionRequest`	`Observable<MissionRequestPayload>`	Gets an observable stream of mission request payloads.
`OnMissionAck`	`Observable<MissionAckPayload>`	Gets the observable sequence that emits MissionAckPayload when a mission acknowledgement is received.

Method	Return Type	Description
`MissionSetCurrent(ushort missionItemsIndex, CancellationToken cancel = default)`	`Task`	Drone receives message and attempts to update the current mission sequence number.
`MissionRequestItem(ushort index, CancellationToken cancel = default)`	`Task<MissionItemIntPayload>`	Requests a mission item of the specified index.
`MissionRequestCount(CancellationToken cancel = default)`	`Task<int>`	Initiate mission download from a system by requesting the list of mission items.
`MissionSetCount(ushort count, CancellationToken cancel = default)`	`ValueTask`	Sets the count for the mission and returns a task that represents the asynchronous operation.
`WriteMissionItem(ushort seq, MavFrame frame, MavCmd cmd, bool current, bool autoContinue, float param1, float param2, float param3, float param4, float x, float y, float z, MavMissionType missionType, CancellationToken cancel = default)`	`ValueTask`	Writes a mission item to the vehicle's mission list.
`WriteMissionItem(MissionItem missionItem, CancellationToken cancel = default)`	`ValueTask`	Writes a mission item to a target.
`WriteMissionIntItem(Action<MissionItemIntPayload> fillCallback, CancellationToken cancel = default)`	`ValueTask`	Writes a mission item with an integer payload.
`ClearAll(MavMissionType type = MavMissionType.MavMissionTypeAll, CancellationToken cancel = default)`	`Task`	Clears all mission items of the specified type.
`SendMissionAck(MavMissionResult result, byte targetSystemId = 0, byte targetComponentId = 0, MavMissionType? type = null, CancellationToken cancel = default)`	`ValueTask`	Sends a mission acknowledgment message to the specified target system and component IDs.

`IMissionClient.MissionSetCurrent`

Parameter	Type	Description
`missionItemsIndex`	`ushort`	Index of the mission item within the mission sequence.
`cancel`	`CancellationToken`	Optional cancel token argument.

`IMissionClient.MissionRequestItem`

Parameter	Type	Description
`index`	`ushort`	The index of the mission item to request.
`cancel`	`CancellationToken`	Optional cancel token argument.

`IMissionClient.MissionRequestCount`

Parameter	Type	Description
`cancel`	`CancellationToken`	Optional cancel token argument.

`IMissionClient.MissionSetCount`

Parameter	Type	Description
`count`	`ushort`	The count to set for the mission.
`cancel`	`CancellationToken`	Optional cancel token argument.

`IMissionClient.WriteMissionItem(...)`

Parameter	Type	Description
`seq`	`ushort`	The sequence number of the mission item.
`frame`	`MavFrame`	The coordinate system in which the mission item's position is specified.
`cmd`	`MavCmd`	The scheduled action for the mission item.
`current`	`bool`	True if this mission item is the currently active one.
`autoContinue`	`bool`	True to automatically continue to the next waypoint after this mission item.
`param1`	`float`	PARAM1 for the scheduled action (refer to MAV_CMD enum for details).
`param2`	`float`	PARAM2 for the scheduled action (refer to MAV_CMD enum for details).
`param3`	`float`	PARAM3 for the scheduled action (refer to MAV_CMD enum for details).
`param4`	`float`	PARAM4 for the scheduled action (refer to MAV_CMD enum for details).
`x`	`float`	The x-coordinate of the mission item's position.
`y`	`float`	The y-coordinate of the mission item's position.
`z`	`float`	The z-coordinate of the mission item's position.
`missionType`	`MavMissionType`	The type of mission item.
`cancel`	`CancellationToken`	Optional cancel token argument.

`IMissionClient.WriteMissionItem(MissionItem missionItem)`

Parameter	Type	Description
`missionItem`	`MissionItem`	The mission item to write.
`cancel`	`CancellationToken`	Optional cancel token argument.

`IMissionClient.WriteMissionIntItem`

Parameter	Type	Description
`fillCallback`	`Action<MissionItemIntPayload>`	A callback function that fills the mission item payload.
`cancel`	`CancellationToken`	Optional cancel token argument.

`IMissionClient.ClearAll`

Parameter	Type	Description
`type`	`MavMissionType`	The type of mission items to clear. Default value is MavMissionType.MavMissionTypeAll.
`cancel`	`CancellationToken`	Optional cancel token argument.

`IMissionClient.SendMissionAck`

Parameter	Type	Description
`result`	`MavMissionResult`	The result of the mission.
`targetSystemId`	`byte`	The target system ID. Default value is 0.
`targetComponentId`	`byte`	The target component ID. Default value is 0.
`type`	`MavMissionType?`	The mission type. Default value is null.
`cancel`	`CancellationToken`	Optional cancel token argument.

Last modified: 02 March 2026