What is the practical limit to the number of waypoints / mission items for PX4?

MaEtUgR · July 19, 2023, 3:20pm

Hey @bubbles I stumbled on this thread and quickly checked the code. The 500 waypoints limit is hardcoded here:

PX4/PX4-Autopilot/blob/0c2a8266bcb7c724bd0b3a55e28befecd3e4307b/src/modules/navigator/navigation.h#L56


      
          #include <stdint.h>
          #include <stdbool.h>
          
          #if defined(MEMORY_CONSTRAINED_SYSTEM)
          #  define NUM_MISSIONS_SUPPORTED 50
          #elif defined(__PX4_POSIX)
          #  define NUM_MISSIONS_SUPPORTED (UINT16_MAX-1) // This is allocated as needed.
          #elif defined(RAM_BASED_MISSIONS)
          #  define NUM_MISSIONS_SUPPORTED 500
          #else
          #  define NUM_MISSIONS_SUPPORTED 500
          #endif
          
          #define NAV_EPSILON_POSITION	0.001f	/**< Anything smaller than this is considered zero */
          
          /* compatible to mavlink MAV_CMD */
          enum NAV_CMD {
          	NAV_CMD_IDLE = 0,
          	NAV_CMD_WAYPOINT = 16,
          	NAV_CMD_LOITER_UNLIMITED = 17,
          	NAV_CMD_LOITER_TIME_LIMIT = 19,

I don’t know all the implications but it seems it was changed from 256 to 2000 with the previously linked pull request and now it got reduced again to 500 with this pr because of RAM usage

If that’s not enough I suggest you bring up the discussion e.g. in a GitHub issue or the community Q&A call.