Autopilot server and command server fixes #2423
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- Remove parameters that are now unused. - Clean up thread properly. - Use udpout syntax.
It turns out we respond with two acks to a MAV_REQUEST_MESSAGE when we should only respond once with the successful one. Alternatively, we could first grab all the results and then do some magic to determine which one is the best ack but that's a bit too magic and complex, so I'm not doing that yet.
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JonasVautherin
approved these changes
Oct 13, 2024
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| // Let's hope someone else answers and keep silent. In an ideal world we would | ||
| // explicitly deny all the ones that we ought to answer but haven't implemented | ||
| // yet. | ||
| return std::optional<mavlink_command_ack_t>{}; |
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Is the issue that multiple components (e.g. autopilot_server or telemetry_server) may process the request, and they can't send MAV_RESULT_DENIED because they don't know if another component will answer? Or do I misunderstand it?
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See commits.
The command fix gets rid of these confusing warnings:
Finally...