src/Vehicle/Vehicle.cc

@@ -3214,26 +3214,11 @@ void Vehicle::_sendMavCommandAgain(void)
     }
 
     if (_mavCommandRetryCount > 1) {
-        // We always let AUTOPILOT_CAPABILITIES go through multiple times even if we don't get acks. This is because
-        // we really need to get capabilities and version info back over a lossy link.
-        if (queuedCommand.command != MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) {
-            if (px4Firmware()) {
-                // Older PX4 firmwares are inconsistent with repect to sending back an Ack from a COMMAND_LONG, hence we can't support retry logic for it.
-                if (_firmwareMajorVersion != versionNotSetValue) {
-                    // If no version set assume lastest master dev build, so acks are suppored
-                    if (_firmwareMajorVersion <= 1 && _firmwareMinorVersion <= 5 && _firmwarePatchVersion <= 3) {
-                        // Acks not supported in this version
-                        return;
-                    }
-                }
-            } else {
-                if (queuedCommand.command == MAV_CMD_START_RX_PAIR) {
+        if (!px4Firmware() && queuedCommand.command == MAV_CMD_START_RX_PAIR) {
             // The implementation of this command comes from the IO layer and is shared across stacks. So for other firmwares
             // we aren't really sure whether they are correct or not.
             return;
         }
-            }
-        }
         qCDebug(VehicleLog) << "Vehicle::_sendMavCommandAgain retrying command:_mavCommandRetryCount" << queuedCommand.command << _mavCommandRetryCount;
     }
 
@@ -3319,7 +3304,7 @@ void Vehicle::_handleUnsupportedRequestProtocolVersion(void)
 void Vehicle::_protocolVersionTimeOut(void)
 {
     // The PROTOCOL_VERSION message didn't make it through the pipe from Vehicle->QGC.
-    // This means although the vehicle may support mavlink 1, the pipe does not.
+    // This means although the vehicle may support mavlink 2, the pipe does not.
     qCDebug(VehicleLog) << QStringLiteral("Setting _maxProtoVersion to 100 due to timeout on receiving PROTOCOL_VERSION message.");
     _setMaxProtoVersion(100);
     _mavlinkProtocolRequestComplete = true;