From 80f91b0f6a0910248246ab9cd189220cd74ade76 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Thu, 28 May 2020 11:16:46 +0200 Subject: [PATCH] mavlink: add support for legacy requests back in --- src/modules/mavlink/mavlink_receiver.cpp | 18 ++++++++++++++++-- 1 file changed, 16 insertions(+), 2 deletions(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 54e6e3478b..aaa5530a6b 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -418,8 +418,22 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const return; } - if (cmd_mavlink.command == MAV_CMD_GET_HOME_POSITION) { - _mavlink->configure_stream_threadsafe("HOME_POSITION", 0.5f); + // First we handle legacy support requests which were used before we had + // the generic MAV_CMD_REQUEST_MESSAGE. + if (cmd_mavlink.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) { + result = handle_request_message_command(MAVLINK_MSG_ID_AUTOPILOT_VERSION); + + } else if (cmd_mavlink.command == MAV_CMD_REQUEST_PROTOCOL_VERSION) { + result = handle_request_message_command(MAVLINK_MSG_ID_PROTOCOL_VERSION); + + } else if (cmd_mavlink.command == MAV_CMD_GET_HOME_POSITION) { + result = handle_request_message_command(MAVLINK_MSG_ID_HOME_POSITION); + + } else if (cmd_mavlink.command == MAV_CMD_REQUEST_FLIGHT_INFORMATION) { + result = handle_request_message_command(MAVLINK_MSG_ID_FLIGHT_INFORMATION); + + } else if (cmd_mavlink.command == MAV_CMD_REQUEST_STORAGE_INFORMATION) { + result = handle_request_message_command(MAVLINK_MSG_ID_STORAGE_INFORMATION); } else if (cmd_mavlink.command == MAV_CMD_SET_MESSAGE_INTERVAL) { if (set_message_interval((int)roundf(cmd_mavlink.param1), cmd_mavlink.param2, cmd_mavlink.param3)) {