upload get_mission code that need to print one time

@@ -40,11 +40,13 @@
  */
  */
 
 
 #include "ekf.h"
 #include "ekf.h"
-
+#include <iostream>
 #include <ecl.h>
 #include <ecl.h>
 #include <geo_lookup/geo_mag_declination.h>
 #include <geo_lookup/geo_mag_declination.h>
 #include <mathlib/mathlib.h>
 #include <mathlib/mathlib.h>
-
+#include <modules/navigator/mission.h>
+static int hold=0;
+int flag=0;
 // GPS pre-flight check bit locations
 // GPS pre-flight check bit locations
 #define MASK_GPS_NSATS  (1<<0)
 #define MASK_GPS_NSATS  (1<<0)
 #define MASK_GPS_PDOP   (1<<1)
 #define MASK_GPS_PDOP   (1<<1)
@@ -58,6 +60,26 @@
 
 
 bool Ekf::collect_gps(const gps_message &gps)
 bool Ekf::collect_gps(const gps_message &gps)
 {
 {
+	mission_s mission;
+	(dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s));
+	
+	for (size_t i = 0; i < mission.count; i++) {
+
+		struct mission_item_s mission_item {};
+
+		(dm_read((dm_item_t)mission.dataman_id, i, &mission_item, sizeof(mission_item_s)) == sizeof(mission_item_s));
+			if(flag==0)
+			{
+			/* error reading, mission is invalid */
+			std::cout<<"----------"<<std::endl;
+			std::cout<<i+1<<std::endl;
+			std::cout<< mission_item.lat <<std::endl;
+			}
+		
+  }
+  flag=1;
+ 
+
 	// Run GPS checks always
 	// Run GPS checks always
 	_gps_checks_passed = gps_is_good(gps);
 	_gps_checks_passed = gps_is_good(gps);
 
 
@@ -140,6 +162,19 @@ bool Ekf::collect_gps(const gps_message &gps)
 			_earth_rate_NED = calcEarthRateNED((float)math::radians(lat));
 			_earth_rate_NED = calcEarthRateNED((float)math::radians(lat));
 		}
 		}
 	}
 	}
+		if(hold != int(gps.time_usec/1000000))
+ 	{
+ 	hold=int(gps.time_usec/1000000);
+ 		if(hold%2==0)
+ 		{
+ 			std::cout <<"----------------------current--------------------------"<<std::endl;
+ 			std :: cout << "time : "<<gps.time_usec/1000000<<std::endl;
+ 			std :: cout << "lat : " <<gps.lat <<std::endl;
+ 			std :: cout << "lon : " <<gps.lon <<std::endl;
+ 			std :: cout << "alt : " <<gps.alt <<std::endl;
+ 		}
+ 	}
+ 	// print GPS data every 1 seocnds
 
 
 	// start collecting GPS if there is a 3D fix and the NED origin has been set
 	// start collecting GPS if there is a 3D fix and the NED origin has been set
 	return _NED_origin_initialised && (gps.fix_type >= 3);
 	return _NED_origin_initialised && (gps.fix_type >= 3);