Merge branch 'main' into purge_protocol_version

src/modules/mavlink/mavlink_main.cpp

@@ -1145,22 +1145,6 @@ 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

@@ -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

@@ -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

@@ -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

@@ -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