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GCS_MAVLINK: Fix Deprecation of MISSION_REQUEST #28854

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GCS_MAVLINK: Fix Deprecation of MISSION_REQUEST #28854

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7856294
GCS_MAVLINK: Use MISSION_REQUEST_INT instead of MISSION_REQUEST
menschel Dec 13, 2024
eaee905
GCS_Mavlink: Fix advertised autopilot capabilities
menschel Dec 17, 2024
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14 changes: 13 additions & 1 deletion libraries/GCS_MAVLink/GCS_Common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7098,8 +7098,20 @@ bool GCS_MAVLINK::mavlink_coordinate_frame_to_location_alt_frame(const MAV_FRAME

uint64_t GCS_MAVLINK::capabilities() const
{
/**
* Basic capabilities, changed December 2024
* - Param float (FIXME: deprecated since 2022)
* - 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 (TODO: should be added, code is there)
*/
uint64_t ret = MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT |
MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION;
MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION |
MAV_PROTOCOL_CAPABILITY_MISSION_INT |
MAV_PROTOCOL_CAPABILITY_COMMAND_INT |
MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT;

const auto mavlink_protocol = uartstate->get_protocol();
if (mavlink_protocol == AP_SerialManager::SerialProtocol_MAVLink2 || mavlink_protocol == AP_SerialManager::SerialProtocol_MAVLinkHL) {
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36 changes: 28 additions & 8 deletions libraries/GCS_MAVLink/MissionItemProtocol.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,8 @@ void MissionItemProtocol::init_send_requests(GCS_MAVLINK &_link,

mission_item_warning_sent = false;
mission_request_warning_sent = false;
mission_request_int_fallback_to_mission_request = false;
mission_request_int_warning_sent = false;
}

void MissionItemProtocol::handle_mission_clear_all(const GCS_MAVLINK &_link,
Expand Down Expand Up @@ -315,7 +317,7 @@ 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)) {
if (mission_request_int_fallback_to_mission_request ? HAVE_PAYLOAD_SPACE(link->get_chan(), MISSION_REQUEST) : HAVE_PAYLOAD_SPACE(link->get_chan(), MISSION_REQUEST_INT)) {
queued_request_send();
} else {
link->send_message(next_item_ap_message_id());
Expand Down Expand Up @@ -368,13 +370,24 @@ 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);
mavlink_msg_mission_request_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);
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_INT);
mavlink_msg_mission_request_send(
link->get_chan(),
dest_sysid,
dest_compid,
request_i,
mission_type());
}

timelast_request_ms = AP_HAL::millis();
}

Expand Down Expand Up @@ -408,8 +421,15 @@ void MissionItemProtocol::update()
// resend request if we haven't gotten one:
const uint32_t wp_recv_timeout_ms = 1000U + link->get_stream_slowdown_ms();
if (tnow - timelast_request_ms > wp_recv_timeout_ms) {
if (not mission_request_int_fallback_to_mission_request) {
mission_request_int_fallback_to_mission_request = true;
}
timelast_request_ms = tnow;
link->send_message(next_item_ap_message_id());
} else if ((mission_request_int_fallback_to_mission_request)
&& (not mission_request_int_warning_sent)) {
mission_request_int_warning_sent = true;
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "This GCS ignores MISSION_REQUEST_INT; MISSION_REQUEST support will soon end!");
}
}

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6 changes: 6 additions & 0 deletions libraries/GCS_MAVLink/MissionItemProtocol.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand Down
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