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ArduSub: emit MAV_RESULT_DENIED if start/stop item passed to MAV_CMD_MISSION_START

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Peter Barker 2024-08-16 22:45:51 +10:00 committed by Andrew Tridgell
parent d8252d81f8
commit f53fcffbf6
1 changed files with 4 additions and 0 deletions
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4
ArduSub/GCS_Mavlink.cpp
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@ -542,6 +542,10 @@ MAV_RESULT GCS_MAVLINK_Sub::handle_command_int_packet(const mavlink_command_int_
return handle_command_int_do_reposition(packet); return handle_command_int_do_reposition(packet);
case MAV_CMD_MISSION_START: case MAV_CMD_MISSION_START:
if (!is_zero(packet.param1) || !is_zero(packet.param2)) {
// first-item/last item not supported
return MAV_RESULT_DENIED;
}
return handle_MAV_CMD_MISSION_START(packet); return handle_MAV_CMD_MISSION_START(packet);
case MAV_CMD_NAV_LOITER_UNLIM: case MAV_CMD_NAV_LOITER_UNLIM: