MAV_RESULT_DENIED if start/stop item provided to MAV_CMD_MISSION_START

ArduPilot · Aug 15, 2024 · 6309489 · 6309489
1 parent 61bd5e9
commit 6309489
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diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
@@ -960,6 +960,10 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_MAV_CMD_DO_CHANGE_SPEED(const mavlink_comm
 #if MODE_AUTO_ENABLED == ENABLED
 MAV_RESULT GCS_MAVLINK_Copter::handle_MAV_CMD_MISSION_START(const mavlink_command_int_t &packet)
 {
+        if (!is_zero(packet.param1) || !is_zero(packet.param2)) {
+            // first-item/last item not supported
+            return MAV_RESULT_DENIED;
+        }
         if (copter.set_mode(Mode::Number::AUTO, ModeReason::GCS_COMMAND)) {
             copter.set_auto_armed(true);
             if (copter.mode_auto.mission.state() != AP_Mission::MISSION_RUNNING) {

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
@@ -1080,6 +1080,10 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
         return MAV_RESULT_FAILED;
 
     case MAV_CMD_MISSION_START:
+        if (!is_zero(packet.param1) || !is_zero(packet.param2)) {
+            // first-item/last item not supported
+            return MAV_RESULT_DENIED;
+        }
         plane.set_mode(plane.mode_auto, ModeReason::GCS_COMMAND);
         return MAV_RESULT_ACCEPTED;
 

diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
@@ -542,6 +542,10 @@ MAV_RESULT GCS_MAVLINK_Sub::handle_command_int_packet(const mavlink_command_int_
         return handle_command_int_do_reposition(packet);
 
     case MAV_CMD_MISSION_START:
+        if (!is_zero(packet.param1) || !is_zero(packet.param2)) {
+            // first-item/last item not supported
+            return MAV_RESULT_DENIED;
+        }
         return handle_MAV_CMD_MISSION_START(packet);
 
     case MAV_CMD_NAV_LOITER_UNLIM:

diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
@@ -701,6 +701,10 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_int_packet(const mavlink_command_in
                                               packet.param4);
 
     case MAV_CMD_MISSION_START:
+        if (!is_zero(packet.param1) || !is_zero(packet.param2)) {
+            // first-item/last item not supported
+            return MAV_RESULT_DENIED;
+        }
         if (rover.set_mode(rover.mode_auto, ModeReason::GCS_COMMAND)) {
             return MAV_RESULT_ACCEPTED;
         }