Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-21 16:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

GCS_MAVLink: deprecate handling of AUTOPILOT_VERSION_REQUEST

Browse Source 
This can be done equivalently with MAV_CMD_REQUEST_MESSAGE
This commit is contained in:
Peter Barker 2022-10-27 13:46:13 +11:00 committed by Peter Barker
parent b2de8e0f6e
commit d0b96d4cd9
3 changed files with 13 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/GCS_MAVLink/GCS.h
View File

@ -587,7 +587,9 @@ protected:
virtual MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet);
#if AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED
void handle_send_autopilot_version(const mavlink_message_t &msg);
#endif
MAV_RESULT handle_command_request_autopilot_capabilities(const mavlink_command_long_t &packet);
virtual void send_banner();

4
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -3869,9 +3869,11 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
handle_set_mode(msg);
break;
#if AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED
case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
handle_send_autopilot_version(msg);
break;
#endif
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
@ -4141,10 +4143,12 @@ void GCS_MAVLINK::handle_common_mission_message(const mavlink_message_t &msg)
}
}
#if AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED
void GCS_MAVLINK::handle_send_autopilot_version(const mavlink_message_t &msg)
{
send_message(MSG_AUTOPILOT_VERSION);
}
#endif
void GCS_MAVLINK::send_banner()
{

7
libraries/GCS_MAVLink/GCS_config.h
View File

@ -18,3 +18,10 @@
#ifndef AP_MAVLINK_MISSION_SET_CURRENT_ENABLED
#define AP_MAVLINK_MISSION_SET_CURRENT_ENABLED 1
#endif
// AUTOPILOT_VERSION_REQUEST is slated to be removed; an instance of
// AUTOPILOT_VERSION can be requested with MAV_CMD_REQUEST_MESSAGE,
// which gets you an ACK/NACK
#ifndef AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED
#define AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED 1
#endif