From e1883bcaa4e6be77b89f4df86eb62492bd3555b8 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 15 Jan 2023 11:44:30 +1100
Subject: [PATCH] GCS_MAVLink: fixed FTP terminate session error

this caused ftp downloads to intermittently fail. The cause is the FTP
client may ask for a session terminate and then immediately afterwards
a ftp open. The open would fail as the ftp session was considered
active
---
 libraries/GCS_MAVLink/GCS_FTP.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/libraries/GCS_MAVLink/GCS_FTP.cpp b/libraries/GCS_MAVLink/GCS_FTP.cpp
index 4bae82bb27..e86fafdd84 100644
--- a/libraries/GCS_MAVLink/GCS_FTP.cpp
+++ b/libraries/GCS_MAVLink/GCS_FTP.cpp
@@ -116,7 +116,11 @@ bool GCS_MAVLINK::send_ftp_reply(const pending_ftp &reply)
         reply.chan,
         0, reply.sysid, reply.compid,
         payload);
-    ftp.last_send_ms = AP_HAL::millis();
+    if (reply.req_opcode == FTP_OP::TerminateSession) {
+        ftp.last_send_ms = 0;
+    } else {
+        ftp.last_send_ms = AP_HAL::millis();
+    }
     return true;
 }