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GCS_MAVLink: deprecate handling of MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES 

AUTOPILOT_VERSION - the message this returns - can be requested with MAV_CMD_REQUEST_MESSAGE
This commit is contained in:
Peter Barker 2022-10-27 13:52:41 +11:00 committed by Peter Barker
parent d0b96d4cd9
commit feaed97601
3 changed files with 12 additions and 0 deletions
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2
libraries/GCS_MAVLink/GCS.h
View File

@ -590,7 +590,9 @@ protected:
#if AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED
void handle_send_autopilot_version(const mavlink_message_t &msg);
#endif
#if AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED
MAV_RESULT handle_command_request_autopilot_capabilities(const mavlink_command_long_t &packet);
#endif
virtual void send_banner();

4
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -4410,6 +4410,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_mag_cal(const mavlink_command_long_t &pac
#endif
}
#if AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED
MAV_RESULT GCS_MAVLINK::handle_command_request_autopilot_capabilities(const mavlink_command_long_t &packet)
{
if (!is_equal(packet.param1,1.0f)) {
@ -4420,6 +4421,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_request_autopilot_capabilities(const mavl
return MAV_RESULT_ACCEPTED;
}
#endif
MAV_RESULT GCS_MAVLINK::handle_command_do_send_banner(const mavlink_command_long_t &packet)
@ -4679,10 +4681,12 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
result = handle_command_mount(packet);
break;
#if AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
result = handle_command_request_autopilot_capabilities(packet);
break;
}
#endif
case MAV_CMD_DO_SET_ROI_NONE:
return handle_command_do_set_roi_none();

6
libraries/GCS_MAVLink/GCS_config.h
View File

@ -25,3 +25,9 @@
#ifndef AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED
#define AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED 1
#endif
// handling of MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES is slated to be
// removed; the message can be requested with MAV_CMD_REQUEST_MESSAGE
#ifndef AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED
#define AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED 1
#endif