Use MAV_CMD_DO_SET_MISSION_CURRENT for APMFirmwarePlugin #12285
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…ability code a relatively simple wrapper around sendMavCommandWithHandler, this wrapper allows you to create a lambda function as part of the invocation. If the flight stack has never supported the command then the lambda function is called. Otherwise, one of three actions is taken: - if an UNSUPPORTED response has been received from the autopilot then the lambda function is called - if the command has previously been ACCEPTED then sendMavCommand is called with the appopriate arguments - otherwise the command is issued to the autopilot, but a special response handler used to register the result as ACCEPTED or UNSUPPORTED (so the first two actions can later be taken)
falls back to the old "mission_set_current" message if the command is not supported
DonLakeFlyer
reviewed
Jan 7, 2025
src/Vehicle/Vehicle.h
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| @@ -986,14 +994,17 @@ private slots: | |||
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| static void _rebootCommandResultHandler(void* resultHandlerData, int compId, const mavlink_command_ack_t& ack, MavCmdResultFailureCode_t failureCode); | |||
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| // send mavlink command (deprecated since Aug 2022) | |||
| Q_INVOKABLE void setCurrentMissionSequenceWithMissionSetCurrent(int seq); | |||
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I would make this non-invokable and private. I don't think we want anyone using this except for the lambda fallback case. I might put lambdaFallback in the name to steer people away from using it in other Vehicle code.
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I've pushed up a patch on top which simply inlines the function into the lambda itself. I was avoiding that to reduce the patch size - but it does neaten things up a bit.
Thoughts?
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Yeah, thanks Peter. I like that much better.
outcome of review; a separate function may be confusing to future users of these methods
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Send the mavlink command MAV_CMD_DO_SET_MISSION_CURRENT in place of the old mavlink message MISSION_SET_CURRENT. If "UNSUPPORTED" is received from the autopilot then send the old mavlink message.
The mavlink command has existed since 2019.
The mavlink message has been deprecated since Aug 2022.
ArduPilot has supported the command since 4.1.0 (2021)
Adds infrastructure which should be reused for (eg.) the DO_REPOSITION code.