The ground station speaks an older dialect of MAVLink
What ArduPilot says:
- got MISSION_REQUEST; use MISSION_REQUEST_INT!
- got MISSION_ITEM; GCS should send MISSION_ITEM_INT
- Error setting rally point
- Failed to get rally point
- Received message (…) is deprecated
- Need mavlink2 for item transfer
Also explained here: 2 more
- Bad rally point count
- Bad rally point ID
MAVLink, the language between aircraft and ground station, has changed over the years. MISSION_ITEM and MISSION_REQUEST carry coordinates as short decimal numbers that lose precision; the forms ending in INT carry them exactly. ArduPilot still accepts the old forms and warns once. “Need mavlink2 for item transfer” is a refusal: fences and rally points can be sent this way only over MAVLink 2. The rally point lines come from the older, separate rally protocol when its numbering disagrees with what is stored (RALLY_TOTAL).
What to do, most likely first
The ground station is an old version.
FixUpdate it, then upload the mission, fence and rally points again.
The serial port of this link is set to MAVLink 1.
CheckRead
SERIALn_PROTOCOLof the port the telemetry radio is on: 1 is MAVLink 1, 2 is MAVLink 2.FixSet it to 2 and reboot; the radio and the ground station must allow MAVLink 2 as well.
Your own script or companion computer sends the old messages.
FixChange it to
MISSION_ITEM_INTandMISSION_REQUEST_INT, with coordinates as whole numbers of degrees times ten million.
Parameters to look at
| Parameter | What it is |
|---|---|
SERIAL1_PROTOCOL | Telem1 protocol selection |
SERIAL2_PROTOCOL | Telemetry 2 protocol selection |
RALLY_TOTAL | Rally Total |
Where to do it:Setup & Tuning GuideBoard & Wiring Planner
The code that sends it
got MISSION_REQUEST; use MISSION_REQUEST_INT!
libraries/GCS_MAVLink/MissionItemProtocol.cpp MissionItemProtocol::handle_mission_request() · Open in ArduPilot Copter-4.7.1
got MISSION_ITEM; GCS should send MISSION_ITEM_INT
libraries/GCS_MAVLink/MissionItemProtocol.cpp MissionItemProtocol::send_mission_item_warning() · Open in ArduPilot Copter-4.7.1
Error setting rally point
libraries/GCS_MAVLink/GCS_Rally.cpp GCS_MAVLINK::handle_rally_point() · Open in ArduPilot Copter-4.7.1
Failed to get rally point
libraries/GCS_MAVLink/GCS_Rally.cpp GCS_MAVLINK::handle_rally_fetch_point() · Open in ArduPilot Copter-4.7.1
And 4 more messages, sent from the same places.