Rover: emit MAV_RESULT_DENIED if start/stop item passed to MAV_CMD_MI…

…SSION_START
ArduPilot · Aug 16, 2024 · b99adf4 · b99adf4
1 parent f9c6f16
commit b99adf4
Showing 1 changed file with 4 additions and 0 deletions.
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;
         }