2 Commits

Include renames

Author	SHA1	Message	Date
Mahima Yoga	8e7b370cde	fix(mavlink): accept INT32_MIN as "param not used" in mission item validation (#28079) ... QGC leaves unused float params as NaN and converts them into the int32 x/y fields of MISSION_ITEM_INT, which comes out as INT32_MIN. This made PX4 reject any mission with camera items (set mode, take photo/video, stop photo/video) with INVALID_PARAM5. Treat INT32_MIN as "param not used", the same as INT32_MAX. Signed-off-by: mahima-yoga <mahima@auterion.com>	2026-07-24 11:51:58 -06:00
bvrtoverfitprimes	cd900a8973	fix(mavlink): reject unsupported params in commands and missions (#27541) ... * fix(mavlink): reject unsupported params in commands and missions PX4 accepted any non-NaN value in params it does not use for a given MAV_CMD, silently storing or ignoring them. This made it impossible for a GCS to detect that a mission item or command was malformed, and risked unexpected behaviour if the param meaning is assigned in a future update. Add mavlink_command_params.h: a header-only sorted lookup table mapping each supported MAV_CMD to uint8 bitmasks (one for mission items, one for commands) indicating which of params 1-4 are valid. check_params() does a binary search and returns the 1-based index of the first offending param, or 0 if all unsupported params are unset. A param is considered unset when it is NaN (the MAVLink standard) or 0.0 (the conventional GCS default for unused float fields). Any other value in an unsupported slot is rejected: - Mission uploads (MISSION_ITEM / MISSION_ITEM_INT): NACK with MAV_MISSION_INVALID_PARAMn for the offending param index. - Commands (COMMAND_LONG / COMMAND_INT): ACK with MAV_RESULT_DENIED. Validation is placed at the MAVLink ingress boundary (parse_mavlink_mission_item and handle_message_command_both) before any downstream processing, keeping Commander and Navigator unmodified. The table covers all 45 MAV_CMDs handled by PX4's mission and command parsers. The static_assert enforces sort order at compile time. Fixes #27483 Signed-off-by: Himaghna <pen314paper@gmail.com> * fix(mavlink): split mission/command p5-7 masks, fix int_mode branch, add vehicle overrides Signed-off-by: Himaghna <pen314paper@gmail.com> * fix(mavlink): fix 142-char lines and Python CI type/style errors Signed-off-by: Himaghna <pen314paper@gmail.com> * fix(mavlink): pack p5-7 bits into mission/command byte, fix astyle/type-limits/mypy * fix(mavlink): range-for over VehicleParamOverrides, fix mypy ignore code * fix(mavlink): wire check_params_for_vehicle, add int variant, drop non-vehicle check_params Signed-off-by: Himaghna <pen314paper@gmail.com> * fix(mavlink): suppress clang unused-function on check_params_*_for_vehicle Signed-off-by: Himaghna <pen314paper@gmail.com> * fix(mavlink): rename local vs to avoid shadow in handle_message_command_both Signed-off-by: Himaghna <pen314paper@gmail.com> * fix(mavlink): cache vehicle_type_bitmask as member, update on vehicle_status change Signed-off-by: Himaghna <pen314paper@gmail.com> * fix(mavlink): use named VEHICLE_TYPE_* consts, fix masks, drop WARN spam, fix int_mode cast Signed-off-by: Himaghna <pen314paper@gmail.com> * fix(mavlink): normalize INT32_MAX to 0 for MAV_FRAME_MISSION p5/p6 in int_mode For MAV_FRAME_MISSION items, x/y are generic p5/p6 params (not lat/lon), so GCS tools send 0 for unused params — not INT32_MAX. Using check_params_int_for_vehicle here caused int_param_is_unset(0)=false, which rejected valid DO_LAND_START and similar items with x=y=0. Fix by normalizing INT32_MAX to 0.0f before calling check_params_for_vehicle, so both the MISSION_ITEM_INT sentinel and the conventional float zero are treated as unset. This restores acceptance of zero-param items like DO_LAND_START while still correctly rejecting items that carry non-zero, non-sentinel values in unsupported param slots. Signed-off-by: Himaghna <pen314paper@gmail.com> * fix(mavlink): address review feedback on VTOL masks, NaN sentinel, dead enum, and RTL test frame * fix(mavlink): move param validation test out of mavsdk_tests, rename header to .hpp * fix(mavlink): dedupe param-scan loop shared by check_params_for_vehicle variants --------- Signed-off-by: Himaghna <pen314paper@gmail.com>	2026-07-02 10:11:56 +12:00