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ArduPilot · Dec 17, 2024 · 7c2441b · 7c2441b
1 parent 3569c2c
commit 7c2441b
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Showing 3 changed files with 45 additions and 13 deletions.
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -7099,18 +7099,19 @@ bool GCS_MAVLINK::mavlink_coordinate_frame_to_location_alt_frame(const MAV_FRAME
 uint64_t GCS_MAVLINK::capabilities() const
 {
     /**
-     * Basic capabilities December 2024
-     * - Param float (already there, not checked)
+     * Basic capabilities, changed December 2024
+     * - Param float (obsolete, replaced by param encode c cast, therefore removed)
      * - Compass calibration (already there, not checked)
      * - Mission Int (added, code is there)
      * - Command Int (added, code is there)
      * - Set Position Target Global Int (added, code is there, used for guided mode)
+     * - param encode c cast (added, code is there)
      */
-    uint64_t ret = MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT |
-        MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION |
+    uint64_t ret = MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION |
         MAV_PROTOCOL_CAPABILITY_MISSION_INT |
         MAV_PROTOCOL_CAPABILITY_COMMAND_INT |
-        MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT;
+        MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT |
+        MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST;
 
     const auto mavlink_protocol = uartstate->get_protocol();
     if (mavlink_protocol == AP_SerialManager::SerialProtocol_MAVLink2 || mavlink_protocol == AP_SerialManager::SerialProtocol_MAVLinkHL) {

diff --git a/libraries/GCS_MAVLink/MissionItemProtocol.cpp b/libraries/GCS_MAVLink/MissionItemProtocol.cpp
@@ -27,6 +27,7 @@ void MissionItemProtocol::init_send_requests(GCS_MAVLINK &_link,
 
     mission_item_warning_sent = false;
     mission_request_warning_sent = false;
+    mission_request_int_warning_sent = false;
 }
 
 void MissionItemProtocol::handle_mission_clear_all(const GCS_MAVLINK &_link,
@@ -227,6 +228,16 @@ void MissionItemProtocol::send_mission_item_warning()
     GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "got MISSION_ITEM; GCS should send MISSION_ITEM_INT");
 }
 
+void MissionItemProtocol::send_mission_request_int_warning()
+{
+    if (mission_request_int_warning_sent) {
+        return;
+    }
+    mission_request_int_warning_sent = true;
+    GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "GCS ignored MISSION_REQUEST_INT; fallback to MISSION_REQUEST");
+}
+
+
 void MissionItemProtocol::handle_mission_write_partial_list(GCS_MAVLINK &_link,
                                                             const mavlink_message_t &msg,
                                                             const mavlink_mission_write_partial_list_t &packet)
@@ -315,7 +326,10 @@ void MissionItemProtocol::handle_mission_item(const mavlink_message_t &msg, cons
         return;
     }
     // if we have enough space, then send the next WP request immediately
-    if (HAVE_PAYLOAD_SPACE(link->get_chan(), MISSION_REQUEST_INT)) {
+    if (HAVE_PAYLOAD_SPACE(link->get_chan(),
+                           mission_request_int_fallback_to_mission_request ? MISSION_REQUEST : MISSION_REQUEST_INT
+                           )
+        ) {
         queued_request_send();
     } else {
         link->send_message(next_item_ap_message_id());
@@ -368,13 +382,24 @@ void MissionItemProtocol::queued_request_send()
         INTERNAL_ERROR(AP_InternalError::error_t::gcs_bad_missionprotocol_link);
         return;
     }
-    CHECK_PAYLOAD_SIZE2_VOID(link->get_chan(), MISSION_REQUEST_INT);
-    mavlink_msg_mission_request_int_send(
-        link->get_chan(),
-        dest_sysid,
-        dest_compid,
-        request_i,
-        mission_type());
+    if (!mission_request_int_fallback_to_mission_request) {
+        CHECK_PAYLOAD_SIZE2_VOID(link->get_chan(), MISSION_REQUEST_INT);
+        mavlink_msg_mission_request_int_send(
+            link->get_chan(),
+            dest_sysid,
+            dest_compid,
+            request_i,
+            mission_type());
+    } else {
+        CHECK_PAYLOAD_SIZE2_VOID(link->get_chan(), MISSION_REQUEST);
+        mavlink_msg_mission_request_send(
+            link->get_chan(),
+            dest_sysid,
+            dest_compid,
+            request_i,
+            mission_type());
+}
+
     timelast_request_ms = AP_HAL::millis();
 }
 

diff --git a/libraries/GCS_MAVLink/MissionItemProtocol.h b/libraries/GCS_MAVLink/MissionItemProtocol.h
@@ -101,6 +101,12 @@ class MissionItemProtocol
     // then we issue a warning - once per transfer.
     bool mission_item_warning_sent = false;
 
+    // if the autopilot sends a mission_request_int to a GCS and runs into a timeout,
+    // it does fallback to mission_request instead, ...
+    bool mission_request_int_fallback_to_mission_request = false;
+    // ... and we issue a warning - once per transfer.
+    bool mission_request_int_warning_sent = false;
+
     // support for GCS getting waypoints etc from us:
     virtual MAV_MISSION_RESULT get_item(const GCS_MAVLINK &_link,
                                         const mavlink_message_t &msg,