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Support AUTOPILOT_VERSION message request to make qgc connection faster

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Don't have to wait until the request is timed out.
This commit is contained in:
Oleg Kalachev 2024-12-23 17:59:35 +03:00
parent 6f190295cf
commit fd30027ea4
1 changed files with 19 additions and 0 deletions
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19
flix/mavlink.ino
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@ -141,6 +141,25 @@ void handleMavlink(const void *_msg) {
mavlink_msg_mission_count_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, 0, 0, 0, MAV_MISSION_TYPE_MISSION, 0);
sendMessage(&msg);
}
// Handle commands
if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
mavlink_command_long_t commandLong;
mavlink_msg_command_long_decode(msg, &commandLong);
mavlink_message_t ack;
mavlink_message_t response;
if (commandLong.command == MAV_CMD_REQUEST_MESSAGE && commandLong.param1 == MAVLINK_MSG_ID_AUTOPILOT_VERSION) {
mavlink_msg_command_ack_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &ack, commandLong.command, MAV_RESULT_ACCEPTED, UINT8_MAX, 0, msg->sysid, msg->compid);
sendMessage(&ack);
mavlink_msg_autopilot_version_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &response,
MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT | MAV_PROTOCOL_CAPABILITY_MAVLINK2, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0);
sendMessage(&response);
} else {
mavlink_msg_command_ack_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &ack, commandLong.command, MAV_RESULT_UNSUPPORTED, UINT8_MAX, 0, msg->sysid, msg->compid);
sendMessage(&ack);
}
}
}
// Convert Forward-Left-Up to Forward-Right-Down quaternion