From bb542ca39ac0022fdadad0c82d4d583ae0f21169 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Aug 2019 14:23:42 +1000
Subject: [PATCH] GCS_MAVLink: queue AUTOPILOT_VERSION for sending instead of
 direct-send

Also allows the message to be requested for streaming or with
REQUEST_MESSAGE

We weren't checking for buffer space before sending this out, so it was
a possible source of corruption.
---
 libraries/GCS_MAVLink/GCS_Common.cpp | 10 ++++++++--
 libraries/GCS_MAVLink/ap_message.h   |  1 +
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 737e3e069d..f17511b68c 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -797,6 +797,7 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
         { MAVLINK_MSG_ID_AOA_SSA,               MSG_AOA_SSA},
         { MAVLINK_MSG_ID_DEEPSTALL,             MSG_LANDING},
         { MAVLINK_MSG_ID_EXTENDED_SYS_STATE,    MSG_EXTENDED_SYS_STATE},
+        { MAVLINK_MSG_ID_AUTOPILOT_VERSION,     MSG_AUTOPILOT_VERSION},
             };
 
     for (uint8_t i=0; i<ARRAY_SIZE(map); i++) {
@@ -3143,7 +3144,7 @@ void GCS_MAVLINK::handle_common_mission_message(const mavlink_message_t &msg)
 
 void GCS_MAVLINK::handle_send_autopilot_version(const mavlink_message_t &msg)
 {
-    send_autopilot_version();
+    send_message(MSG_AUTOPILOT_VERSION);
 }
 
 void GCS_MAVLINK::send_banner()
@@ -3362,7 +3363,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_request_autopilot_capabilities(const mavl
         return MAV_RESULT_FAILED;
     }
 
-    send_autopilot_version();
+    send_message(MSG_AUTOPILOT_VERSION);
 
     return MAV_RESULT_ACCEPTED;
 }
@@ -4251,6 +4252,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         send_vibration();
         break;
 
+    case MSG_AUTOPILOT_VERSION:
+        CHECK_PAYLOAD_SIZE(AUTOPILOT_VERSION);
+        send_autopilot_version();
+        break;
+
     case MSG_ESC_TELEMETRY: {
 #ifdef HAVE_AP_BLHELI_SUPPORT
         CHECK_PAYLOAD_SIZE(ESC_TELEMETRY_1_TO_4);
diff --git a/libraries/GCS_MAVLink/ap_message.h b/libraries/GCS_MAVLink/ap_message.h
index c62424af4f..10f19a1fc7 100644
--- a/libraries/GCS_MAVLink/ap_message.h
+++ b/libraries/GCS_MAVLink/ap_message.h
@@ -71,5 +71,6 @@ enum ap_message : uint8_t {
     MSG_HOME,
     MSG_NAMED_FLOAT,
     MSG_EXTENDED_SYS_STATE,
+    MSG_AUTOPILOT_VERSION,
     MSG_LAST // MSG_LAST must be the last entry in this enum
 };