Commit 296c3ad6 authored by DonLakeFlyer's avatar DonLakeFlyer


parent d1bcd479
......@@ -589,6 +589,14 @@ void PlanManager::_handleMissionAck(const mavlink_message_t& message)
if (_vehicle->apmFirmware() && missionAck.type == MAV_MISSION_INVALID_SEQUENCE) {
// ArduPilot sends these Acks which can happen just due to noisy links causing duplicated requests being responded to.
// As far as I'm concerned this is incorrect protocol implementation but we need to deal with it anyway. So we just
// ignore it and if things really go haywire the timeouts will fire to fail the overall transaction.
qCDebug(PlanManagerLog) << QStringLiteral("_handleMissionAck ArduPilot sending possibly bogus MAV_MISSION_INVALID_SEQUENCE").arg(_planTypeString()) << _planType;
// Save the retry ack before calling _checkForExpectedAck since we'll need it to determine what
// type of a protocol sequence we are in.
AckType_t savedExpectedAck = _expectedAck;
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