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Purge PROTOCOL_VERSION

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This commit is contained in:
Hamish Willee
2025-10-30 16:51:44 +11:00
parent f9595319b8
commit cec0eba79f
5 changed files with 0 additions and 91 deletions
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src/modules/mavlink/mavlink_main.cpp
-16
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@@ -1135,22 +1135,6 @@ Mavlink::send_autopilot_capabilities()
return false;
}
void
Mavlink::send_protocol_version()
{
mavlink_protocol_version_t msg = {};
msg.version = _protocol_version * 100;
msg.min_version = 100;
msg.max_version = 203;
uint64_t mavlink_lib_git_version_binary = px4_mavlink_lib_version_binary();
// TODO add when available
//memcpy(&msg.spec_version_hash, &mavlink_spec_git_version_binary, sizeof(msg.spec_version_hash));
memcpy(&msg.library_version_hash, &mavlink_lib_git_version_binary, sizeof(msg.library_version_hash));
mavlink_msg_protocol_version_send_struct(get_channel(), &msg);
}
int
Mavlink::configure_stream(const char *stream_name, const float rate)
{
src/modules/mavlink/mavlink_main.h
-4
View File
@@ -371,10 +371,6 @@ public:
*/
bool send_autopilot_capabilities();
/**
* Send the protocol version of MAVLink
*/
void send_protocol_version();
List<MavlinkStream *> &get_streams() { return _streams; }
src/modules/mavlink/mavlink_messages.cpp
-4
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@@ -108,7 +108,6 @@
#include "streams/PING.hpp"
#include "streams/POSITION_TARGET_GLOBAL_INT.hpp"
#include "streams/POSITION_TARGET_LOCAL_NED.hpp"
#include "streams/PROTOCOL_VERSION.hpp"
#include "streams/RAW_RPM.hpp"
#include "streams/RC_CHANNELS.hpp"
#include "streams/SCALED_IMU.hpp"
@@ -471,9 +470,6 @@ static const StreamListItem streams_list[] = {
#if defined(AUTOPILOT_VERSION_HPP)
create_stream_list_item<MavlinkStreamAutopilotVersion>(),
#endif // AUTOPILOT_VERSION_HPP
#if defined(PROTOCOL_VERSION_HPP)
create_stream_list_item<MavlinkStreamProtocolVersion>(),
#endif // PROTOCOL_VERSION_HPP
#if defined(FLIGHT_INFORMATION_HPP)
create_stream_list_item<MavlinkStreamFlightInformation>(),
#endif // FLIGHT_INFORMATION_HPP
src/modules/mavlink/mavlink_receiver.cpp
-4
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@@ -444,7 +444,6 @@ MavlinkReceiver::evaluate_target_ok(int command, int target_system, int target_c
switch (command) {
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES:
case MAV_CMD_REQUEST_PROTOCOL_VERSION:
/* broadcast and ignore component */
target_ok = (target_system == 0) || (target_system == mavlink_system.sysid);
break;
@@ -569,9 +568,6 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
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);
src/modules/mavlink/streams/PROTOCOL_VERSION.hpp
-63
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@@ -1,63 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef PROTOCOL_VERSION_HPP
#define PROTOCOL_VERSION_HPP
class MavlinkStreamProtocolVersion : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamProtocolVersion(mavlink); }
static constexpr const char *get_name_static() { return "PROTOCOL_VERSION"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_PROTOCOL_VERSION; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
private:
explicit MavlinkStreamProtocolVersion(Mavlink *mavlink) : MavlinkStream(mavlink) {}
bool send() override
{
_mavlink->send_protocol_version();
return true;
}
};
#endif // PROTOCOL_VERSION_HPP