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

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This commit is contained in:
Peter Barker 2019-08-02 17:54:44 +10:00 committed by Peter Barker
parent 4e95832433
commit 4b012ab62b
4 changed files with 44 additions and 0 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -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;

10
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -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);

30
libraries/GCS_MAVLink/MissionItemProtocol.cpp
View File

@ -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;

2
libraries/GCS_MAVLink/MissionItemProtocol.h
View File

@ -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;
};