Bring new multi-GCS protocol messages from mavlink/mavlink#382
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Davidsastresas wants to merge 1 commit intoArduPilot:masterfrom
Open
Bring new multi-GCS protocol messages from mavlink/mavlink#382Davidsastresas wants to merge 1 commit intoArduPilot:masterfrom
Davidsastresas wants to merge 1 commit intoArduPilot:masterfrom
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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"> |
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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> |
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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
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Add multi-GCS support, see ArduPilot/ardupilot#29252