From 068443718edff1d69f6a6ab3cbff58e94fcd73af Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 16 Mar 2023 17:14:28 +1100
Subject: [PATCH] GCS_MAVLink: deprecate use of MISSION_SET_CURRENT message

The mavlink command MAV_CMD_DO_SET_MISSION_CURRENT has been in place since January 2019 and is superior to this.
---
 ArduPlane/GCS_Mavlink.cpp            | 2 ++
 ArduPlane/GCS_Mavlink.h              | 2 ++
 libraries/GCS_MAVLink/GCS.h          | 3 +++
 libraries/GCS_MAVLink/GCS_Common.cpp | 6 ++++++
 libraries/GCS_MAVLink/GCS_config.h   | 8 ++++++++
 5 files changed, 21 insertions(+)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index b75509936d..19bc5f2ab2 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1316,6 +1316,7 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_do_set_mission_current(const mavlin
     return result;
 }
 
+#if AP_MAVLINK_MISSION_SET_CURRENT_ENABLED
 void GCS_MAVLINK_Plane::handle_mission_set_current(AP_Mission &mission, const mavlink_message_t &msg)
 {
     // if you change this you must change handle_command_do_set_mission_current
@@ -1325,6 +1326,7 @@ void GCS_MAVLINK_Plane::handle_mission_set_current(AP_Mission &mission, const ma
         plane.mission.resume();
     }
 }
+#endif
 
 uint64_t GCS_MAVLINK_Plane::capabilities() const
 {
diff --git a/ArduPlane/GCS_Mavlink.h b/ArduPlane/GCS_Mavlink.h
index 849efe8a17..a42c7db246 100644
--- a/ArduPlane/GCS_Mavlink.h
+++ b/ArduPlane/GCS_Mavlink.h
@@ -15,7 +15,9 @@ protected:
 
     uint32_t telem_delay() const override;
 
+#if AP_MAVLINK_MISSION_SET_CURRENT_ENABLED
     void handle_mission_set_current(AP_Mission &mission, const mavlink_message_t &msg) override;
+#endif
 
     uint8_t sysid_my_gcs() const override;
     bool sysid_enforce() const override;
diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 1389e568f2..2aac3f506d 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -525,12 +525,15 @@ protected:
     void handle_mission_request_int(const mavlink_message_t &msg);
     void handle_mission_clear_all(const mavlink_message_t &msg);
 
+#if AP_MAVLINK_MISSION_SET_CURRENT_ENABLED
     // Note that there exists a relatively new mavlink DO command,
     // MAV_CMD_DO_SET_MISSION_CURRENT which provides an acknowledgement
     // that the command has been received, rather than the GCS having to
     // rely on getting back an identical sequence number as some currently
     // do.
     virtual void handle_mission_set_current(AP_Mission &mission, const mavlink_message_t &msg);
+#endif
+
     void handle_mission_count(const mavlink_message_t &msg);
     void handle_mission_write_partial_list(const mavlink_message_t &msg);
     void handle_mission_item(const mavlink_message_t &msg);
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index d647aa466b..fee3d10354 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -614,6 +614,7 @@ void GCS_MAVLINK::handle_mission_request(const mavlink_message_t &msg)
         prot->handle_mission_request(*this, packet, msg);
 }
 
+#if AP_MAVLINK_MISSION_SET_CURRENT_ENABLED
 /*
   handle a MISSION_SET_CURRENT mavlink packet
 
@@ -625,6 +626,8 @@ void GCS_MAVLINK::handle_mission_request(const mavlink_message_t &msg)
  */
 void GCS_MAVLINK::handle_mission_set_current(AP_Mission &mission, const mavlink_message_t &msg)
 {
+    // send_received_message_deprecation_warning("MISSION_SET_CURRENT");
+
     // decode
     mavlink_mission_set_current_t packet;
     mavlink_msg_mission_set_current_decode(&msg, &packet);
@@ -647,6 +650,7 @@ void GCS_MAVLINK::handle_mission_set_current(AP_Mission &mission, const mavlink_
         }
     }
 }
+#endif  // AP_MAVLINK_MISSION_SET_CURRENT_ENABLED
 
 /*
   handle a MISSION_COUNT mavlink packet
@@ -4060,6 +4064,7 @@ void GCS_MAVLINK::handle_common_mission_message(const mavlink_message_t &msg)
         handle_mission_request(msg);
         break;
 
+#if AP_MAVLINK_MISSION_SET_CURRENT_ENABLED
     case MAVLINK_MSG_ID_MISSION_SET_CURRENT:    // MAV ID: 41
     {
         AP_Mission *_mission = AP::mission();
@@ -4068,6 +4073,7 @@ void GCS_MAVLINK::handle_common_mission_message(const mavlink_message_t &msg)
         }
         break;
     }
+#endif
 
     // GCS request the full list of commands, we return just the number and leave the GCS to then request each command individually
     case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:       // MAV ID: 43
diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h
index 49a82e454f..31fdc205ea 100644
--- a/libraries/GCS_MAVLink/GCS_config.h
+++ b/libraries/GCS_MAVLink/GCS_config.h
@@ -10,3 +10,11 @@
 #ifndef AP_MAVLINK_BATTERY2_ENABLED
 #define AP_MAVLINK_BATTERY2_ENABLED 1
 #endif
+
+// handling of MISSION_SET_CURRENT (the message) is slated to be
+// removed.  It has signficant deficiencies vs MAV_CMD_DO_SET_CURRENT.
+// The command was added to the spec in January 2019 and to MAVLink in
+// ArduPilot in 4.1.x
+#ifndef AP_MAVLINK_MISSION_SET_CURRENT_ENABLED
+#define AP_MAVLINK_MISSION_SET_CURRENT_ENABLED 1
+#endif