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GCS_MAVlink: return identical seq in MISSION_CURRENT if possible after set

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// because MISSION_SET_CURRENT is a message not a command,
        // there is not ACK associated with us successfully changing
        // our waypoint.  Some GCSs use the fact we return exactly the
        // same mission sequence number in this packet as an ACK - so
        // if they send a MISSION_SET_CURRENT with seq number of 4
        // then they expect to receive a MISSION_CURRENT message with
        // exactly that sequence number in it, even if ArduPilot never
        // actually holds that as a sequence number (e.g. packet.seq==0).
This commit is contained in:
Peter Barker 2021-02-23 14:24:40 +11:00 committed by Andrew Tridgell
parent 14791c335b
commit 9932aa99f7
1 changed files with 14 additions and 1 deletions
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15
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -524,7 +524,20 @@ void GCS_MAVLINK::handle_mission_set_current(AP_Mission &mission, const mavlink_
// set current command
if (mission.set_current_cmd(packet.seq)) {
send_message(MSG_CURRENT_WAYPOINT);
// because MISSION_SET_CURRENT is a message not a command,
// there is not ACK associated with us successfully changing
// our waypoint. Some GCSs use the fact we return exactly the
// same mission sequence number in this packet as an ACK - so
// if they send a MISSION_SET_CURRENT with seq number of 4
// then they expect to receive a MISSION_CURRENT message with
// exactly that sequence number in it, even if ArduPilot never
// actually holds that as a sequence number (e.g. packet.seq==0).
if (HAVE_PAYLOAD_SPACE(chan, MISSION_CURRENT)) {
mavlink_msg_mission_current_send(chan, packet.seq);
} else {
// schedule it for later:
send_message(MSG_CURRENT_WAYPOINT);
}
}
}