Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

GCS_MAVLink: Remove wrong usage of COMMAND_ACK message #14452

Merged
merged 1 commit into from
Feb 19, 2024
Merged

GCS_MAVLink: Remove wrong usage of COMMAND_ACK message #14452

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 1 addition & 13 deletions libraries/GCS_MAVLink/GCS_Common.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2600,19 +2600,7 @@ void GCS_MAVLINK::handle_set_mode(const mavlink_message_t &msg)
const MAV_MODE _base_mode = (MAV_MODE)packet.base_mode;
const uint32_t _custom_mode = packet.custom_mode;

const MAV_RESULT result = _set_mode_common(_base_mode, _custom_mode);

// send ACK or NAK. Note that this is extraodinarily improper -
// we are sending a command-ack for a message which is not a
// command. The command we are acking (ID=11) doesn't actually
// exist, but if it did we'd probably be acking something
// completely unrelated to setting modes.
if (HAVE_PAYLOAD_SPACE(chan, COMMAND_ACK)) {
mavlink_msg_command_ack_send(chan, MAVLINK_MSG_ID_SET_MODE, result,
0, 0,
msg.sysid,
msg.compid);
}
_set_mode_common(_base_mode, _custom_mode);
}

/*
Expand Down
Loading