{"action":"created","issue":{"url":"https://api.github.com/repos/mavlink/mavlink/issues/1156","repository_url":"https://api.github.com/repos/mavlink/mavlink","labels_url":"https://api.github.com/repos/mavlink/mavlink/issues/1156/labels{/name}","comments_url":"https://api.github.com/repos/mavlink/mavlink/issues/1156/comments","events_url":"https://api.github.com/repos/mavlink/mavlink/issues/1156/events","html_url":"https://github.com/mavlink/mavlink/issues/1156","id":451907728,"node_id":"MDU6SXNzdWU0NTE5MDc3Mjg=","number":1156,"title":"Pl clarify if a component is required to support AUTOPILOT_VERSION","user":{"login":"olliw42","id":6089567,"node_id":"MDQ6VXNlcjYwODk1Njc=","avatar_url":"https://avatars1.githubusercontent.com/u/6089567?v=4","gravatar_id":"","url":"https://api.github.com/users/olliw42","html_url":"https://github.com/olliw42","followers_url":"https://api.github.com/users/olliw42/followers","following_url":"https://api.github.com/users/olliw42/following{/other_user}","gists_url":"https://api.github.com/users/olliw42/gists{/gist_id}","starred_url":"https://api.github.com/users/olliw42/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/olliw42/subscriptions","organizations_url":"https://api.github.com/users/olliw42/orgs","repos_url":"https://api.github.com/users/olliw42/repos","events_url":"https://api.github.com/users/olliw42/events{/privacy}","received_events_url":"https://api.github.com/users/olliw42/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":5,"created_at":"2019-06-04T10:04:23Z","updated_at":"2019-06-28T05:10:22Z","closed_at":"2019-06-27T06:32:48Z","author_association":"NONE","body":"this is in reference to https://discuss.px4.io/t/mavlink-support-for-the-storm32-gimbal-controller-how-to-make-it-compatible/10723/8, last point.\n\nArduPilot has an AUTOPILOT_VERSION_REQUEST message in it’s dialect, which is used by MissionPlanner to query for AUTOPILOT_VERSION, and MissionPlanner kind of requires a component to respond to this request in order to work properly. This isn't so for QGroundControl.\n\nThis thus raises the question if a component should be required to support AUTOPILOT_VERSION for proper functioning, or not, and if so this would need to be clarified by the spec.\n\nComment: For PROTOCOL_VERSION the specification unambiguously states that every component should support it. However, AUTOPILOT_VERSION and PROTOCOL_VERSION kind of serve a similar purpose in that they both can be used to determine the MAVLink version. Requiring support of both thus appears to be somewhat superfluous. However, not requiring AUTOPILOT_VERSION would kind of break compatibility with current MissionPlanner.\n\n"},"comment":{"url":"https://api.github.com/repos/mavlink/mavlink/issues/comments/506602488","html_url":"https://github.com/mavlink/mavlink/issues/1156#issuecomment-506602488","issue_url":"https://api.github.com/repos/mavlink/mavlink/issues/1156","id":506602488,"node_id":"MDEyOklzc3VlQ29tbWVudDUwNjYwMjQ4OA==","user":{"login":"olliw42","id":6089567,"node_id":"MDQ6VXNlcjYwODk1Njc=","avatar_url":"https://avatars1.githubusercontent.com/u/6089567?v=4","gravatar_id":"","url":"https://api.github.com/users/olliw42","html_url":"https://github.com/olliw42","followers_url":"https://api.github.com/users/olliw42/followers","following_url":"https://api.github.com/users/olliw42/following{/other_user}","gists_url":"https://api.github.com/users/olliw42/gists{/gist_id}","starred_url":"https://api.github.com/users/olliw42/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/olliw42/subscriptions","organizations_url":"https://api.github.com/users/olliw42/orgs","repos_url":"https://api.github.com/users/olliw42/repos","events_url":"https://api.github.com/users/olliw42/events{/privacy}","received_events_url":"https://api.github.com/users/olliw42/received_events","type":"User","site_admin":false},"created_at":"2019-06-28T05:10:22Z","updated_at":"2019-06-28T05:10:22Z","author_association":"NONE","body":"yeah\r\n\r\nI guess it could be added in the version negotating page, https://mavlink.io/en/guide/mavlink_version.html\r\nwhich btw is still highly confusing\r\ne.g. if you read it, you'll find AUTOPILOT_VERSION been mentioned quite frequently, and moreover usually even before PROTOCOL_VERSION ... one easily could get the impression from that page that AUTOPILOT_VERSION is to be preferred\r\n\r\nso, one could e.g. in the first section Determining Protocol/Message Version, move AUTOPILOT_VERSION to the latest and mark it, e.g.\r\n\r\nA library's MAVLink support can be determined in a number of ways:\r\n* PROTOCOL_VERSION: blablabla\r\n* HEARTRBEAT: blablabla \r\n* The major version can be determined from the packet start marker byte: blablabla\r\n* AUTOPILOT_VERSION: blabla. But note that a vehicle is not required to support AUTOPILOT_VERSION, and implementations must not rely on it, in contrast to PROTOCOL_VERSION which vehicles are required to support.\r\n\r\nIn Version Handshaking the reference to AUTOPILOT_VERSION, and even in the first line, must then go. One could add this in at the end of this subchapter, as a note, that AUTOPILOT_VERSION also could be used and that this might be sufficient for a transparent link, but that this isn't reliable since a vehicle isn't required to support it.\r\n\r\nin Negotiating Versions AUTOPILOT_VERSION is even mentioned twice. In the first occurrence one could change the text to e.g. \"Vehicles which support the AUTOPILOT_VERSION message should set the ....\". In the second occurrence AUTOPILOT_VERSION must be replaced by PROTOCOL_VERSION\r\n\r\nI guess I also would greep the whole docs for AUTOPILOT_VERSION and see if it's being used in a confusing manner in other places too"}}
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