Hi Folks,
I am trying to formalize part of Mavlink and I noticed that ardupilot is passing
a message id to a function that is supposed to take a command id,
in order to ack the (now deprecated) SET_MODE message.
Currently starting at line 1469 of
libraries/GCS_MAVLink/GCS_Common.cpp:
/*
handle a SET_MODE MAVLink message
/
void GCS_MAVLINK::handle_set_mode(mavlink_message_t msg, set_mode_fn set_mode)
…
mavlink_msg_command_ack_send_buf(msg, chan, MAVLINK_MSG_ID_SET_MODE, result);
What do people think about this? Is it likely to stay this way? (*)
If so, maybe it would be good to change the documentation on what id can appear
in a command ack. Like “It is a command id or a MAVLINK_MSG_ID_SET_MODE, the latter
of which signals it is an ack for a SET_MODE command.”
Thanks,
EricM
(*) Or is it more likely that SET_MODE will just get removed and force GCS to use
MAV_CMD_DO_SET_MODE? Or maybe that handle_set_mode will get changed to
not do the ack?