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GCS_MAVLink: deprecate handling of AUTOPILOT_VERSION_REQUEST

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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
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2
libraries/GCS_MAVLink/GCS.h
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@ -587,7 +587,9 @@ protected:
virtual MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet); 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); void handle_send_autopilot_version(const mavlink_message_t &msg);
#endif
MAV_RESULT handle_command_request_autopilot_capabilities(const mavlink_command_long_t &packet); MAV_RESULT handle_command_request_autopilot_capabilities(const mavlink_command_long_t &packet);
virtual void send_banner(); virtual void send_banner();

4
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -3869,9 +3869,11 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
handle_set_mode(msg); handle_set_mode(msg);
break; break;
#if AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED
case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST: case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
handle_send_autopilot_version(msg); handle_send_autopilot_version(msg);
break; break;
#endif
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST: case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
case MAVLINK_MSG_ID_MISSION_REQUEST_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) void GCS_MAVLINK::handle_send_autopilot_version(const mavlink_message_t &msg)
{ {
send_message(MSG_AUTOPILOT_VERSION); send_message(MSG_AUTOPILOT_VERSION);
} }
#endif
void GCS_MAVLINK::send_banner() void GCS_MAVLINK::send_banner()
{ {

7
libraries/GCS_MAVLink/GCS_config.h
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@ -18,3 +18,10 @@
#ifndef AP_MAVLINK_MISSION_SET_CURRENT_ENABLED #ifndef AP_MAVLINK_MISSION_SET_CURRENT_ENABLED
#define AP_MAVLINK_MISSION_SET_CURRENT_ENABLED 1 #define AP_MAVLINK_MISSION_SET_CURRENT_ENABLED 1
#endif #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