GCS_MAVLink: deny upload of non-MISSION items if not doing mavlink2

libraries/GCS_MAVLink/GCS.h

@@ -56,6 +56,8 @@ public:
     void        queued_param_send();
     void        queued_mission_request_send();
 
+    bool sending_mavlink1() const;
+
     // returns true if we are requesting any items from the GCS:
     bool requesting_mission_items() const;
 

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -1533,6 +1533,16 @@ void GCS_MAVLINK::send_rc_channels() const
         receiver_rssi);        
 }
 
+bool GCS_MAVLINK::sending_mavlink1() const
+{
+    const mavlink_status_t *status = mavlink_get_channel_status(chan);
+    if (status == nullptr) {
+        // should not happen
+        return true;
+    }
+    return ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) != 0);
+}
+
 void GCS_MAVLINK::send_rc_channels_raw() const
 {
     mavlink_status_t *status = mavlink_get_channel_status(chan);

libraries/GCS_MAVLink/MissionItemProtocol.cpp

@@ -31,11 +31,29 @@ void MissionItemProtocol::handle_mission_clear_all(const GCS_MAVLINK &_link,
     send_mission_ack(_link, msg, success ? MAV_MISSION_ACCEPTED : MAV_MISSION_ERROR);
 }
 
+bool MissionItemProtocol::mavlink2_requirement_met(const GCS_MAVLINK &_link, const mavlink_message_t &msg) const
+{
+    // need mavlink2 to do mission types other than mission:
+    if (mission_type() == MAV_MISSION_TYPE_MISSION) {
+        return true;
+    }
+    if (!_link.sending_mavlink1()) {
+        return true;
+    }
+    gcs().send_text(MAV_SEVERITY_WARNING, "Need mavlink2 for item transfer");
+    send_mission_ack(_link, msg, MAV_MISSION_UNSUPPORTED);
+    return false;
+}
+
 void MissionItemProtocol::handle_mission_count(
     GCS_MAVLINK &_link,
     const mavlink_mission_count_t &packet,
     const mavlink_message_t &msg)
 {
+    if (!mavlink2_requirement_met(_link, msg)) {
+        return;
+    }
+
     if (receiving) {
         // someone is already uploading a mission.  If we are
         // receiving from someone then we will allow them to restart -
@@ -70,6 +88,10 @@ void MissionItemProtocol::handle_mission_request_list(
     const mavlink_mission_request_list_t &packet,
     const mavlink_message_t &msg)
 {
+    if (!mavlink2_requirement_met(_link, msg)) {
+        return;
+    }
+
     if (receiving) {
         // someone is uploading a mission; reject fetching of points
         // until done or timeout
@@ -90,6 +112,10 @@ void MissionItemProtocol::handle_mission_request_int(const GCS_MAVLINK &_link,
                                                      const mavlink_mission_request_int_t &packet,
                                                      const mavlink_message_t &msg)
 {
+    if (!mavlink2_requirement_met(_link, msg)) {
+        return;
+    }
+
     if (receiving) {
         // someone is uploading a mission; reject fetching of points
         // until done or timeout
@@ -120,6 +146,10 @@ void MissionItemProtocol::handle_mission_request(const GCS_MAVLINK &_link,
                                                  const mavlink_message_t &msg
 )
 {
+    if (!mavlink2_requirement_met(_link, msg)) {
+        return;
+    }
+
     // convert into a MISSION_REQUEST_INT and reuse its handling code
     mavlink_mission_request_int_t request_int;
     request_int.target_system = packet.target_system;

libraries/GCS_MAVLink/MissionItemProtocol.h

@@ -108,4 +108,6 @@ private:
 
     virtual void complete(const GCS_MAVLINK &_link) {};
     virtual void timeout() {};
+
+    bool mavlink2_requirement_met(const GCS_MAVLINK &_link, const mavlink_message_t &msg) const;
 };