Remove support for v0.9 WAYPOINT* messages

ArduPilot · Jul 31, 2024 · 4188062 · 4188062
1 parent c0b324d
commit 4188062
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Showing 6 changed files with 13 additions and 13 deletions.
diff --git a/MAVProxy/modules/lib/mission_item_protocol.py b/MAVProxy/modules/lib/mission_item_protocol.py
@@ -247,7 +247,7 @@ def cmd_status(self, args):
     def mavlink_packet(self, m):
         '''handle an incoming mavlink packet'''
         mtype = m.get_type()
-        if mtype in ['WAYPOINT_COUNT', 'MISSION_COUNT']:
+        if mtype in ['MISSION_COUNT']:
             if getattr(m, 'mission_type', 0) != self.mav_mission_type():
                 return
             if self.wp_op is None:
@@ -263,7 +263,7 @@ def mavlink_packet(self, m):
                 self.wploader.expected_count = m.count
                 self.send_wp_requests()
 
-        elif mtype in ['WAYPOINT', 'MISSION_ITEM', 'MISSION_ITEM_INT'] and self.wp_op is not None:
+        elif mtype in ['MISSION_ITEM', 'MISSION_ITEM_INT'] and self.wp_op is not None:
             if m.get_type() == 'MISSION_ITEM_INT':
                 if getattr(m, 'mission_type', 0) != self.mav_mission_type():
                     # this is not a mission item, likely fence
@@ -294,7 +294,7 @@ def mavlink_packet(self, m):
             self.wp_requested = {}
             self.wp_received = {}
 
-        elif mtype in ["WAYPOINT_REQUEST", "MISSION_REQUEST"]:
+        elif mtype in ["MISSION_REQUEST"]:
             self.process_waypoint_request(m, self.master)
 
     def idle_task(self):

diff --git a/MAVProxy/modules/mavproxy_console.py b/MAVProxy/modules/mavproxy_console.py
@@ -619,7 +619,7 @@ def mavlink_packet(self, msg):
                         fg = 'orange'
 
                 self.console.set_status('Link%u'%m.linknum, linkline, row=1, fg=fg)
-        elif type in ['WAYPOINT_CURRENT', 'MISSION_CURRENT']:
+        elif type in ['MISSION_CURRENT']:
             wpmax = self.module('wp').wploader.count()
             if wpmax > 0:
                 wpmax = "/%u" % wpmax

diff --git a/MAVProxy/modules/mavproxy_horizon.py b/MAVProxy/modules/mavproxy_horizon.py
@@ -84,7 +84,7 @@ def mavlink_packet(self, msg):
         elif msgType == 'SYS_STATUS':
             # Mode and Arm State
             self.msgList.append(BatteryInfo(msg))
-        elif msgType in ['WAYPOINT_CURRENT', 'MISSION_CURRENT']:
+        elif msgType in ['MISSION_CURRENT']:
             # Waypoints
             self.currentWP = msg.seq
             self.finalWP = self.module('wp').wploader.count()

diff --git a/MAVProxy/modules/mavproxy_misseditor/mission_editor.py b/MAVProxy/modules/mavproxy_misseditor/mission_editor.py
@@ -258,7 +258,7 @@ def mavlink_packet(self, m):
             m.mission_type != mavutil.mavlink.MAV_MISSION_TYPE_MISSION):
             return
         mtype = m.get_type()
-        if mtype in ['WAYPOINT_COUNT','MISSION_COUNT', 'WAYPOINT', 'MISSION_ITEM', 'MISSION_ITEM_INT']:
+        if mtype in ['MISSION_COUNT', 'MISSION_ITEM', 'MISSION_ITEM_INT']:
             if mtype == 'MISSION_ITEM_INT':
                 m = self.mpstate.module('wp').wp_from_mission_item_int(m)
             self.mavlink_message_queue.put(m)
@@ -272,7 +272,7 @@ def process_mavlink_packet(self, m):
         if (getattr(m, 'mission_type', None) is not None and
             m.mission_type != mavutil.mavlink.MAV_MISSION_TYPE_MISSION):
             return
-        if mtype in ['WAYPOINT_COUNT','MISSION_COUNT']:
+        if mtype in ['MISSION_COUNT']:
             if (self.num_wps_expected == 0):
                 #I haven't asked for WPs, or these messages are duplicates
                 #of msgs I've already received.
@@ -294,7 +294,7 @@ def process_mavlink_packet(self, m):
                 #since this is a write operation from the Editor there
                 #should be no need to update number of table rows
 
-        elif mtype in ['WAYPOINT', 'MISSION_ITEM']:
+        elif mtype in ['MISSION_ITEM']:
             #still expecting wps?
             if (len(self.wps_received) < self.num_wps_expected):
                 #if we haven't already received this wp, write it to the GUI:

diff --git a/MAVProxy/modules/mavproxy_oldwp.py b/MAVProxy/modules/mavproxy_oldwp.py
@@ -143,7 +143,7 @@ def wp_status(self):
     def mavlink_packet(self, m):
         '''handle an incoming mavlink packet'''
         mtype = m.get_type()
-        if mtype in ['WAYPOINT_COUNT', 'MISSION_COUNT']:
+        if mtype in ['MISSION_COUNT']:
             if getattr(m, 'mission_type', 0) != 0:
                 # this is not a mission item, likely fence
                 return
@@ -159,7 +159,7 @@ def mavlink_packet(self, m):
                 self.wploader.expected_count = m.count
                 self.send_wp_requests()
 
-        elif mtype in ['WAYPOINT', 'MISSION_ITEM', 'MISSION_ITEM_INT'] and self.wp_op is not None:
+        elif mtype in ['MISSION_ITEM', 'MISSION_ITEM_INT'] and self.wp_op is not None:
             if m.get_type() == 'MISSION_ITEM_INT':
                 if getattr(m, 'mission_type', 0) != 0:
                     # this is not a mission item, likely fence
@@ -190,10 +190,10 @@ def mavlink_packet(self, m):
             self.wp_requested = {}
             self.wp_received = {}
 
-        elif mtype in ["WAYPOINT_REQUEST", "MISSION_REQUEST"]:
+        elif mtype in ["MISSION_REQUEST"]:
             self.process_waypoint_request(m, self.master)
 
-        elif mtype in ["WAYPOINT_CURRENT", "MISSION_CURRENT"]:
+        elif mtype in ["MISSION_CURRENT"]:
             if m.seq != self.last_waypoint:
                 self.last_waypoint = m.seq
                 if self.settings.wpupdates:

diff --git a/MAVProxy/modules/mavproxy_wp.py b/MAVProxy/modules/mavproxy_wp.py
@@ -75,7 +75,7 @@ def mavlink_packet(self, m):
         '''handle an incoming mavlink packet'''
         mtype = m.get_type()
 
-        if mtype in ["WAYPOINT_CURRENT", "MISSION_CURRENT"]:
+        if mtype in ["MISSION_CURRENT"]:
             if m.seq != self.last_waypoint:
                 self.last_waypoint = m.seq
                 if self.settings.wpupdates: