From 9c42a5d9dd1982cf35fccc7a23e2cd733bd838f1 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 6 Jun 2024 09:57:52 +1000 Subject: [PATCH] GCS_MAVLink: warn on use of old fence point / rally point protocols --- libraries/GCS_MAVLink/GCS_Common.cpp | 2 ++ libraries/GCS_MAVLink/GCS_config.h | 4 ++++ 2 files changed, 6 insertions(+) diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp index 4189392e76..f86a06480b 100644 --- a/libraries/GCS_MAVLink/GCS_Common.cpp +++ b/libraries/GCS_MAVLink/GCS_Common.cpp @@ -4081,6 +4081,7 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg) #if AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT case MAVLINK_MSG_ID_FENCE_POINT: case MAVLINK_MSG_ID_FENCE_FETCH_POINT: + send_received_message_deprecation_warning("FENCE_FETCH_POINT"); handle_fence_message(msg); break; #endif @@ -4162,6 +4163,7 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg) #if AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED case MAVLINK_MSG_ID_RALLY_POINT: case MAVLINK_MSG_ID_RALLY_FETCH_POINT: + send_received_message_deprecation_warning("RALLY_FETCH_POINT"); handle_common_rally_message(msg); break; #endif diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h index 90204972cb..45a4949baa 100644 --- a/libraries/GCS_MAVLink/GCS_config.h +++ b/libraries/GCS_MAVLink/GCS_config.h @@ -58,6 +58,10 @@ #define AP_MAVLINK_FAILURE_CREATION_ENABLED 1 #endif +// CODE_REMOVAL +// ArduPilot 4.6 sends deprecation warnings for RALLY_POINT/RALLY_FETCH_POINT +// ArduPilot 4.7 stops compiling them in by default +// ArduPilot 4.8 removes the code entirely #ifndef AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED #define AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED HAL_GCS_ENABLED && HAL_RALLY_ENABLED #endif