GCS_MAVLink: move send_autopilot_request calls up to GCS base class

libraries/GCS_MAVLink/GCS.h

@@ -20,6 +20,7 @@
 #include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
 #include <AP_Camera/AP_Camera.h>
 #include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
+#include <AP_Common/AP_FWVersion.h>
 
 // check if a message will fit in the payload space available
 #define HAVE_PAYLOAD_SPACE(chan, id) (comm_get_txspace(chan) >= GCS_MAVLINK::packet_overhead_chan(chan)+MAVLINK_MSG_ID_ ## id ## _LEN)
@@ -232,6 +233,7 @@ protected:
     virtual AP_GPS *get_gps() const = 0;
     virtual AP_AdvancedFailsafe *get_advanced_failsafe() const { return nullptr; };
     virtual bool set_mode(uint8_t mode) = 0;
+    virtual const AP_FWVersion &get_fwver() const = 0;
 
     bool            waypoint_receiving; // currently receiving
     // the following two variables are only here because of Tracker
@@ -276,6 +278,9 @@ protected:
     MAV_RESULT handle_rc_bind(const mavlink_command_long_t &packet);
     virtual MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet);
 
+    void handle_send_autopilot_version(const mavlink_message_t *msg);
+    MAV_RESULT handle_command_request_autopilot_capabilities(const mavlink_command_long_t &packet);
+
     void handle_device_op_read(mavlink_message_t *msg);
     void handle_device_op_write(mavlink_message_t *msg);
 

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -1820,6 +1820,10 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
         handle_set_mode(msg);
         break;
 
+    case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
+        handle_send_autopilot_version(msg);
+        break;
+
     case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
         /* fall through */
     case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
@@ -1943,6 +1947,14 @@ void GCS_MAVLINK::handle_common_mission_message(mavlink_message_t *msg)
     }
 }
 
+void GCS_MAVLINK::handle_send_autopilot_version(const mavlink_message_t *msg)
+{
+    const AP_FWVersion &fwver = get_fwver();
+    send_autopilot_version(fwver.major, fwver.minor, fwver.patch, fwver.fw_type);
+}
+
+
+
 MAV_RESULT GCS_MAVLINK::handle_command_preflight_set_sensor_offsets(const mavlink_command_long_t &packet)
 {
     Compass *compass = get_compass();
@@ -1974,6 +1986,17 @@ MAV_RESULT GCS_MAVLINK::handle_command_mag_cal(const mavlink_command_long_t &pac
     return compass->handle_mag_cal_command(packet);
 }
 
+MAV_RESULT GCS_MAVLINK::handle_command_request_autopilot_capabilities(const mavlink_command_long_t &packet)
+{
+    if (!is_equal(packet.param1,1.0f)) {
+        return MAV_RESULT_FAILED;
+    }
+
+    const AP_FWVersion &fwver = get_fwver();
+    send_autopilot_version(fwver.major, fwver.minor, fwver.patch, fwver.fw_type);
+    return MAV_RESULT_ACCEPTED;
+}
+
 MAV_RESULT GCS_MAVLINK::handle_command_long_message(mavlink_command_long_t &packet)
 {
     MAV_RESULT result = MAV_RESULT_FAILED;
@@ -1999,6 +2022,11 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_message(mavlink_command_long_t &pack
         result = handle_command_camera(packet);
         break;
 
+    case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
+        result = handle_command_request_autopilot_capabilities(packet);
+        break;
+    }
+
     case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: {
         result = handle_command_preflight_set_sensor_offsets(packet);
         break;

libraries/GCS_MAVLink/GCS_Dummy.h

@@ -1,5 +1,14 @@
 #include "GCS.h"
 
+const AP_FWVersion fwver
+{
+    major: 3,
+    minor: 1,
+    patch: 4,
+    fw_type: FIRMWARE_VERSION_TYPE_DEV,
+    fw_string: "Dummy GCS"
+};
+
 /*
  *  GCS backend used for many examples and tools
  */
@@ -20,6 +29,7 @@ protected:
     AP_GPS *get_gps() const override { return nullptr; };
     AP_Camera *get_camera() const override { return nullptr; };
     AP_ServoRelayEvents *get_servorelayevents() const override { return nullptr; }
+    const AP_FWVersion &get_fwver() const override { return fwver; }
 
     uint8_t sysid_my_gcs() const override { return 1; }
     bool set_mode(uint8_t mode) override { return false; };

libraries/GCS_MAVLink/examples/routing/routing.cpp

@@ -11,6 +11,16 @@ void loop();
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
+
+const AP_FWVersion fwver
+{
+    major: 3,
+    minor: 1,
+    patch: 4,
+    fw_type: FIRMWARE_VERSION_TYPE_DEV,
+    fw_string: "routing example"
+};
+
 class GCS_MAVLINK_routing : public GCS_MAVLINK
 {
 
@@ -29,6 +39,7 @@ protected:
     AP_Camera *get_camera() const override { return nullptr; };
     uint8_t sysid_my_gcs() const override { return 1; }
     bool set_mode(uint8_t mode) override { return false; };
+    const AP_FWVersion &get_fwver() const override { return fwver; }
 
 private: