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GCS_MAVLink: warn on use of old fence point / rally point protocols

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Peter Barker 2024-06-06 09:57:52 +10:00 committed by Andrew Tridgell
parent c5f902919e
commit 9c42a5d9dd
2 changed files with 6 additions and 0 deletions
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2
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -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

4
libraries/GCS_MAVLink/GCS_config.h
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@ -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