Bring new multi-GCS protocol messages from mavlink/mavlink #382
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
3 tasks
peterbarker
reviewed
Jul 13, 2025
| <entry value="65536" name="MAV_PROTOCOL_CAPABILITY_FLIGHT_INFORMATION"> | ||
| <description>Autopilot supports the flight information protocol.</description> | ||
| </entry> | ||
| <entry value="131072" name="MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST"> |
There was a problem hiding this comment.
Well, this is interesting but perhaps unrelated.
peterbarker
requested changes
Jul 13, 2025
| The component should fall back to the system GCS (if any) when it is not directly controlled, and may stop emitting CONTROL_STATUS. | ||
| The flow is otherwise the same as for requesting control over the whole system. | ||
| </description> | ||
| <param index="1" label="Sysid requesting control">System ID of GCS requesting control. 0 when command sent from GCS to autopilot (autopilot determines requesting GCS sysid from message header). Sysid of GCS requesting control when command sent by autopilot to controlling GCS.</param> |
There was a problem hiding this comment.
I'm not a fan of this.
mavlink nodes should generally not change behaviour based on whether they're a GCS or an autopilot. So in this case the autopilot appears as if it is trying to take control of the GCS, which is odd.
Suggest a distinct command for the autopilot asking the GCS if it is OK for it to transfer control elsewhere
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Add multi-GCS support, see ArduPilot/ardupilot#29252