Missions ex-server

IMissionServerEx is a higher-level mission server API. It wraps IMissionServer and adds mission storage, mission execution, and command handlers for mission items.

var serverDevice = ServerDevice.Create(
    new MavlinkIdentity(config.SystemId, config.ComponentId),
    core,
    builder =>
    {
        builder.RegisterStatus();
        builder.RegisterMission();
        builder.RegisterCommand();
        builder.RegisterCommandLongEx();
        builder.RegisterMissionEx();
    });

Get the service:

var missionEx = serverDevice.GetMissionEx();

Simple mission execution setup:

missionEx.AddItems(new[]
{
    new ServerMissionItem { Command = MavCmd.MavCmdUser1, Autocontinue = 1 },
    new ServerMissionItem { Command = MavCmd.MavCmdUser2, Autocontinue = 1 },
});

missionEx[MavCmd.MavCmdUser1] = async (item, cancel) =>
{
    Console.WriteLine("Execute USER1");
};

missionEx[MavCmd.MavCmdUser2] = async (item, cancel) =>
{
    Console.WriteLine("Execute USER2");
};

missionEx.StartMission(0);

MissionServerState

Value	Description
`Idle`	No mission execution in progress.
`Running`	Mission execution is running.
`CompleteSuccess`	Mission execution completed successfully.
`CompleteError`	Mission execution ended with error.
`Canceled`	Mission execution was canceled.

IMissionServerEx

Property	Type	Description
`Base`	`IMissionServer`	Underlying low-level mission server.
`Current`	`ReadOnlyReactiveProperty<ushort>`	Current mission item index.
`Reached`	`ReadOnlyReactiveProperty<ushort>`	Last reached mission item index.
`Items`	`IReadOnlyObservableList<ServerMissionItem>`	Mission storage.
`State`	`ReadOnlyReactiveProperty<MissionServerState>`	Current mission execution state.
`SupportedCommands`	`IEnumerable<MavCmd>`	Commands that currently have registered handlers.

Indexer	Description
`this[MavCmd mavCmd] { set; }`	Register/remove mission command handler.

Method	Return Type	Description
`AddItems(IEnumerable<ServerMissionItem> items)`	`void`	Adds items to mission storage.
`RemoveItems(IEnumerable<ServerMissionItem> items)`	`void`	Removes items from mission storage.
`ClearItems()`	`void`	Clears mission storage.
`GetItemsSnapshot()`	`ImmutableArray<ServerMissionItem>`	Returns snapshot copy of mission items.
`ChangeCurrentMissionItem(ushort index)`	`ValueTask`	Changes current mission item index.
`StartMission(ushort missionIndex = 0)`	`void`	Starts mission execution.
`StopMission(CancellationToken cancel)`	`void`	Stops mission execution.

`IMissionServerEx.AddItems`

Parameter	Type	Description
`items`	`IEnumerable<ServerMissionItem>`	Items to append.

`IMissionServerEx.RemoveItems`

Parameter	Type	Description
`items`	`IEnumerable<ServerMissionItem>`	Items to remove.

`IMissionServerEx.ChangeCurrentMissionItem`

Parameter	Type	Description
`index`	`ushort`	Mission item index.

`IMissionServerEx.StartMission`

Parameter	Type	Description
`missionIndex`	`ushort`	Start index (`0` by default).

`IMissionServerEx.StopMission`

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

MissionTaskDelegate

Parameter	Type	Description
`item`	`ServerMissionItem`	Mission item to execute.
`cancel`	`CancellationToken`	Cancel token argument.

Last modified: 18 February 2026