Missions ex-client

IMissionClientEx is a higher-level mission API on top of IMissionClient. It adds a local mission cache, sync state, mission distance, upload/download helpers, and start mission command support.

var missionEx = device.GetMicroservice<IMissionClientEx>()
    ?? throw new Exception("MissionClientEx not found");

Download full mission with progress:

var items = await missionEx.Download(
    cancel,
    p => Console.WriteLine($"Download: {p:P0}")
);

Create local mission and upload:

missionEx.ClearLocal();
missionEx.AddTakeOffMissionItem(new GeoPoint(47.641468, -122.140165, 50));
missionEx.AddNavMissionItem(new GeoPoint(47.642000, -122.141000, 60));
missionEx.AddLandMissionItem(new GeoPoint(47.642500, -122.142000, 0));

await missionEx.Upload(
    cancel,
    p => Console.WriteLine($"Upload: {p:P0}")
);

Start mission and change current item:

await missionEx.StartMission(0, ushort.MaxValue, cancel);
await missionEx.SetCurrent(0, cancel);

MissionClientExConfig

MissionClientExConfig extends MissionClientConfig.

Property	Type	Default	Description
`CommandTimeoutMs`	`int`	`1000`	Timeout for request/response mission calls.
`AttemptToCallCount`	`int`	`3`	Retry count for request/response calls.
`DeviceUploadTimeoutMs`	`int`	`3000`	Timeout for waiting next upload request from device.

IMissionClientEx

Represents an extended interface for interacting with mission clients.

Property	Type	Description
`Base`	`IMissionClient`	Underlying low-level mission client.
`MissionItems`	`IReadOnlyObservableList<MissionItem>`	This property represents an observable collection of MissionItems.
`IsSynced`	`ReadOnlyReactiveProperty<bool>`	`true` when local and remote missions are in sync.
`Current`	`ReadOnlyReactiveProperty<ushort>`	Current mission item index from remote side.
`Reached`	`ReadOnlyReactiveProperty<ushort>`	Last reached mission item index from remote side.
`AllMissionsDistance`	`ReadOnlyReactiveProperty<double>`	Total distance in km of all missions.

Method	Return Type	Description
`StartMission(ushort startIndex, ushort stopIndex, CancellationToken cancel = default)`	`Task`	Starts the mission (sends MAV_CMD_MISSION_START).
`Download(CancellationToken cancel, Action<double>? progress = null)`	`Task<MissionItem[]>`	Downloads mission to local cache and sends ACK.
`Upload(CancellationToken cancel = default, Action<double>? progress = null)`	`Task`	Uploads a file to the server.
`Create()`	`MissionItem`	Creates and adds new local MissionItem object.
`Remove(ushort index)`	`void`	Removes an element at the specified index from the collection.
`ClearRemote(CancellationToken cancel = default)`	`Task`	Clears mission on remote side.
`ClearLocal()`	`void`	Clears local mission cache only.
`SetCurrent(ushort index, CancellationToken cancel = default)`	`Task`	Sets current mission item on remote side.

`IMissionClientEx.StartMission`

Parameter	Type	Description
`startIndex`	`ushort`	First mission item index.
`stopIndex`	`ushort`	Last mission item index.
`cancel`	`CancellationToken`	Cancel token argument.

`IMissionClientEx.Download`

Parameter	Type	Description
`cancel`	`CancellationToken`	Cancel token argument.
`progress`	`Action<double>?`	Optional. The callback to report progress during the download.

`IMissionClientEx.Upload`

Parameter	Type	Description
`cancel`	`CancellationToken`	Optional cancel token argument.
`progress`	`Action<double>?`	An optional callback to track the progress of the upload. The callback receives a value between 0 and 1 representing the progress percentage.

`IMissionClientEx.Remove`

Parameter	Type	Description
`index`	`ushort`	The index of the element to remove.

`IMissionClientEx.ClearRemote`

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

`IMissionClientEx.SetCurrent`

Parameter	Type	Description
`index`	`ushort`	The index position to set as the current position.
`cancel`	`CancellationToken`	Optional cancel token argument.

MissionClientExHelper

Helper extension methods to quickly create common mission items.

Method	Return Type	Description
`AddSplineMissionItem(this IMissionClientEx vehicle, GeoPoint point)`	`MissionItem`	Adds a spline mission item to a vehicle's mission.
`SetVehicleSpeed(this IMissionClientEx vehicle, float speed, float speedType = 1, float throttle = -1)`	`MissionItem`	Change speed and/or throttle set points. The value persists until it is overridden or there is a mode change
`AddNavMissionItem(this IMissionClientEx vehicle, GeoPoint point, float holdTime = 0, float acceptRadius = 0, float passRadius = 0, float yawAngle = float.NaN)`	`MissionItem`	Adds a nav mission item to a vehicle's mission.
`AddTakeOffMissionItem(this IMissionClientEx vehicle, GeoPoint point, float pitch = 0, float yawAngle = float.NaN)`	`MissionItem`	Adds a takeoff mission item to the mission.
`AddLandMissionItem(this IMissionClientEx vehicle, GeoPoint point, float abortAltitude = 0, PrecisionLandMode landMode = PrecisionLandMode.PrecisionLandModeDisabled, float yawAngle = float.NaN)`	`MissionItem`	Adds a land mission item to the mission list.
`AddRoiMissionItem(this IMissionClientEx vehicle, GeoPoint point, MavRoi roiMode = MavRoi.MavRoiLocation, float wpIndex = 0, float roiIndex = 0)`	`MissionItem`	Adds a Region of Interest (ROI) mission item to the mission.

`IMissionClientEx.AddSplineMissionItem`

Parameter	Type	Description
`vehicle`	`IMissionClientEx`	The vehicle's mission client
`point`	`GeoPoint`	The geographic point for the mission item

`IMissionClientEx.SetVehicleSpeed`

Parameter	Type	Description
`vehicle`	`IMissionClientEx`	The vehicle's mission client
`speed`	`float`	Speed (-1 indicates no change, -2 indicates return to default vehicle speed)
`speedType`	`float`	Speed type of value set in param2 (such as airspeed, ground speed, and so on)
`throttle`	`float`	Throttle (-1 indicates no change, -2 indicates return to default vehicle throttle value)

`IMissionClientEx.AddNavMissionItem`

Parameter	Type	Description
`vehicle`	`IMissionClientEx`	The mission client
`point`	`GeoPoint`	The geographic point for the mission item
`holdTime`	`float`	Hold time value written to Param1
`acceptRadius`	`float`	Accept radius value written to Param2
`passRadius`	`float`	Pass radius value written to Param3
`yawAngle`	`float`	Yaw angle value written to Param4

`IMissionClientEx.AddTakeOffMissionItem`

Parameter	Type	Description
`vehicle`	`IMissionClientEx`	The mission client.
`point`	`GeoPoint`	The coordinates of the takeoff point.
`pitch`	`float`	The pitch angle (optional, default = 0).
`yawAngle`	`float`	The yaw angle (optional, default = NaN).

`IMissionClientEx.AddLandMissionItem`

Parameter	Type	Description
`vehicle`	`IMissionClientEx`	The vehicle that the mission item will be added to.
`point`	`GeoPoint`	The geographical point of the land mission item.
`abortAltitude`	`float`	The altitude at which the land mission item can be aborted, default is 0.
`landMode`	`PrecisionLandMode`	The mode of precision landing, default is PrecisionLandModeDisabled.
`yawAngle`	`float`	The yaw angle for the land mission item, default is NaN.

`IMissionClientEx.AddRoiMissionItem`

Parameter	Type	Description
`vehicle`	`IMissionClientEx`	The mission client extension.
`point`	`GeoPoint`	The geographical point target for the ROI.
`roiMode`	`MavRoi`	The mode for the ROI (optional, defaults to MavRoi.MavRoiLocation).
`wpIndex`	`float`	The waypoint index of the mission item (optional, defaults to 0).
`roiIndex`	`float`	The ROI index (optional, defaults to 0).

Last modified: 24 February 2026