GCS_MAVLink: return MAV_RESULT_COMMAND_INT_ONLY if command-long support not compiled in

libraries/GCS_MAVLink/GCS.h

@@ -657,8 +657,6 @@ protected:
     MAV_RESULT handle_command_mag_cal(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_fixed_mag_cal_yaw(const mavlink_command_int_t &packet);
 
-    virtual bool mav_frame_for_command_long(MAV_FRAME &fame, MAV_CMD packet_command) const;
-    MAV_RESULT try_command_long_as_command_int(const mavlink_command_long_t &packet, const mavlink_message_t &msg);
     MAV_RESULT handle_command_camera(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_do_set_roi(const mavlink_command_int_t &packet);
     virtual MAV_RESULT handle_command_do_set_roi(const Location &roi_loc);
@@ -730,12 +728,16 @@ protected:
      */
     uint32_t correct_offboard_timestamp_usec_to_ms(uint64_t offboard_usec, uint16_t payload_size);
 
+#if AP_MAVLINK_COMMAND_LONG_ENABLED
     // converts a COMMAND_LONG packet to a COMMAND_INT packet, where
     // the command-long packet is assumed to be in the supplied frame.
     // If location is not present in the command then just omit frame.
     // this method ensures the passed-in structure is entirely
     // initialised.
     virtual void convert_COMMAND_LONG_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out, MAV_FRAME frame = MAV_FRAME_GLOBAL_RELATIVE_ALT);
+    virtual bool mav_frame_for_command_long(MAV_FRAME &fame, MAV_CMD packet_command) const;
+    MAV_RESULT try_command_long_as_command_int(const mavlink_command_long_t &packet, const mavlink_message_t &msg);
+#endif
 
     // methods to extract a Location object from a command_int
     bool location_from_command_t(const mavlink_command_int_t &in, Location &out);

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -4757,6 +4757,49 @@ MAV_RESULT GCS_MAVLINK::handle_command_component_arm_disarm(const mavlink_comman
     return MAV_RESULT_UNSUPPORTED;
 }
 
+bool GCS_MAVLINK::location_from_command_t(const mavlink_command_int_t &in, Location &out)
+{
+    if (!command_long_stores_location((MAV_CMD)in.command)) {
+        return false;
+    }
+
+    // integer storage imposes limits on the altitudes we can accept:
+    if (isnan(in.z) || fabsf(in.z) > LOCATION_ALT_MAX_M) {
+        return false;
+    }
+
+    Location::AltFrame frame;
+    if (!mavlink_coordinate_frame_to_location_alt_frame((MAV_FRAME)in.frame, frame)) {
+        // unknown coordinate frame
+        return false;
+    }
+
+    out.lat = in.x;
+    out.lng = in.y;
+
+    out.set_alt_cm(int32_t(in.z * 100), frame);
+
+    return true;
+}
+
+bool GCS_MAVLINK::command_long_stores_location(const MAV_CMD command)
+{
+    switch(command) {
+    case MAV_CMD_DO_SET_HOME:
+    case MAV_CMD_DO_SET_ROI:
+    case MAV_CMD_DO_SET_ROI_LOCATION:
+    // case MAV_CMD_NAV_TAKEOFF:  // technically yes, but we don't do lat/lng
+    // case MAV_CMD_NAV_VTOL_TAKEOFF:
+    case MAV_CMD_DO_REPOSITION:
+    case MAV_CMD_EXTERNAL_POSITION_ESTIMATE:
+        return true;
+    default:
+        return false;
+    }
+    return false;
+}
+
+#if AP_MAVLINK_COMMAND_LONG_ENABLED
 // when conveyed via COMMAND_LONG, a command doesn't come with an
 // explicit frame.  When conveying a location they do have an assumed
 // frame in ArduPilot, and this function returns that frame.
@@ -4801,49 +4844,6 @@ MAV_RESULT GCS_MAVLINK::try_command_long_as_command_int(const mavlink_command_lo
     return handle_command_int_packet(command_int, msg);
 }
 
-bool GCS_MAVLINK::location_from_command_t(const mavlink_command_int_t &in, Location &out)
-{
-    if (!command_long_stores_location((MAV_CMD)in.command)) {
-        return false;
-    }
-
-    // integer storage imposes limits on the altitudes we can accept:
-    if (isnan(in.z) || fabsf(in.z) > LOCATION_ALT_MAX_M) {
-        return false;
-    }
-
-    Location::AltFrame frame;
-    if (!mavlink_coordinate_frame_to_location_alt_frame((MAV_FRAME)in.frame, frame)) {
-        // unknown coordinate frame
-        return false;
-    }
-
-    out.lat = in.x;
-    out.lng = in.y;
-
-    out.set_alt_cm(int32_t(in.z * 100), frame);
-
-    return true;
-}
-
-#if AP_MAVLINK_COMMAND_LONG_ENABLED
-bool GCS_MAVLINK::command_long_stores_location(const MAV_CMD command)
-{
-    switch(command) {
-    case MAV_CMD_DO_SET_HOME:
-    case MAV_CMD_DO_SET_ROI:
-    case MAV_CMD_DO_SET_ROI_LOCATION:
-    // case MAV_CMD_NAV_TAKEOFF:  // technically yes, but we don't do lat/lng
-    // case MAV_CMD_NAV_VTOL_TAKEOFF:
-    case MAV_CMD_DO_REPOSITION:
-    case MAV_CMD_EXTERNAL_POSITION_ESTIMATE:
-        return true;
-    default:
-        return false;
-    }
-    return false;
-}
-
 // returns a value suitable for COMMAND_INT.x or y based on a value
 // coming in from COMMAND_LONG.p5 or p6:
 static int32_t convert_COMMAND_LONG_loc_param(float param, bool stores_location)
@@ -4909,6 +4909,26 @@ void GCS_MAVLINK::handle_command_long(const mavlink_message_t &msg)
 
     hal.util->persistent_data.last_mavlink_cmd = 0;
 }
+
+#else
+void GCS_MAVLINK::handle_command_long(const mavlink_message_t &msg)
+{
+    // decode packet
+    mavlink_command_long_t packet;
+    mavlink_msg_command_long_decode(&msg, &packet);
+
+    // send ACK or NAK
+    mavlink_msg_command_ack_send(
+        chan,
+        packet.command,
+        MAV_RESULT_COMMAND_INT_ONLY,
+        0,
+        0,
+        msg.sysid,
+        msg.compid
+   );
+
+}
 #endif  // AP_MAVLINK_COMMAND_LONG_ENABLED
 
 MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi(const Location &roi_loc)