Remove support for MAVLink v1 message protocol

DonLakeFlyer · DonLakeFlyer · commit 3c75fe8258f1 · 2025-11-25T08:04:44.000-08:00
Notify user if v1 traffic is detected on link
diff --git a/src/Comms/LinkInterface.cc b/src/Comms/LinkInterface.cc
@@ -140,3 +140,19 @@ void LinkInterface::setSigningSignatureFailure(bool failure)
         }
     }
 }
+
+void LinkInterface::reportMavlinkV1Traffic()
+{
+    if (!_mavlinkV1TrafficReported) {
+        _mavlinkV1TrafficReported = true;
+
+        const SharedLinkConfigurationPtr linkConfig = linkConfiguration();
+        const QString linkName = linkConfig ? linkConfig->name() : QStringLiteral("unknown");
+        qCWarning(LinkInterfaceLog) << "MAVLink v1 traffic detected on link" << linkName;
+        const QString message = tr("MAVLink v1 traffic detected on link '%1'. "
+                                   "%2 only supports MAVLink v2. "
+                                   "Please ensure your vehicle is configured to use MAVLink v2.")
+                                    .arg(linkName).arg(qgcApp()->applicationName());
+        qgcApp()->showAppMessage(message);
+    }
+}
diff --git a/src/Comms/LinkInterface.h b/src/Comms/LinkInterface.h
@@ -46,6 +46,7 @@ class LinkInterface : public QObject
     void removeVehicleReference();
     bool initMavlinkSigning();
     void setSigningSignatureFailure(bool failure);
+    void reportMavlinkV1Traffic();
 
 signals:
     void bytesReceived(LinkInterface *link, const QByteArray &data);
@@ -80,6 +81,7 @@ private slots:
     bool _decodedFirstMavlinkPacket = false;
     int _vehicleReferenceCount = 0;
     bool _signingSignatureFailure = false;
+    bool _mavlinkV1TrafficReported = false;
 };
 
 typedef std::shared_ptr<LinkInterface> SharedLinkInterfacePtr;
diff --git a/src/Comms/LinkManager.cc b/src/Comms/LinkManager.cc
@@ -169,7 +169,6 @@ bool LinkManager::createConnectedLink(SharedLinkConfigurationPtr &config)
     (void) connect(link.get(), &LinkInterface::disconnected, this, &LinkManager::_linkDisconnected);
 
     MAVLinkProtocol::instance()->resetMetadataForLink(link.get());
-    MAVLinkProtocol::instance()->setVersion(MAVLinkProtocol::instance()->getCurrentVersion());
 
     // Try to connect before adding to active links list
     if (!link->_connect()) {
diff --git a/src/Comms/MAVLinkProtocol.cc b/src/Comms/MAVLinkProtocol.cc
@@ -24,6 +24,7 @@
 #include <QtCore/QMetaType>
 #include <QtCore/QSettings>
 #include <QtCore/QStandardPaths>
+#include <QtCore/QTimer>
 
 QGC_LOGGING_CATEGORY(MAVLinkProtocolLog, "Comms.MAVLinkProtocol")
 
@@ -59,16 +60,6 @@ void MAVLinkProtocol::init()
     _initialized = true;
 }
 
-void MAVLinkProtocol::setVersion(unsigned version)
-{
-    const QList<SharedLinkInterfacePtr> sharedLinks = LinkManager::instance()->links();
-    for (const SharedLinkInterfacePtr &interface : sharedLinks) {
-        mavlink_set_proto_version(interface.get()->mavlinkChannel(), version / 100);
-    }
-
-    _currentVersion = version;
-}
-
 void MAVLinkProtocol::resetMetadataForLink(LinkInterface *link)
 {
     const uint8_t channel = link->mavlinkChannel();
@@ -119,7 +110,11 @@ void MAVLinkProtocol::receiveBytes(LinkInterface *link, const QByteArray &data)
             continue;
         }
 
-        _updateVersion(link, mavlinkChannel);
+        if (status.flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) {
+            link->reportMavlinkV1Traffic();
+            continue;
+        }
+
         _updateCounters(mavlinkChannel, message);
         if (!linkPtr->linkConfiguration()->isForwarding()) {
             _forward(message);
@@ -133,25 +128,6 @@ void MAVLinkProtocol::receiveBytes(LinkInterface *link, const QByteArray &data)
     }
 }
 
-void MAVLinkProtocol::_updateVersion(LinkInterface *link, uint8_t mavlinkChannel)
-{
-    if (link->decodedFirstMavlinkPacket()) {
-        return;
-    }
-
-    link->setDecodedFirstMavlinkPacket(true);
-    const mavlink_status_t *const mavlinkStatus = mavlink_get_channel_status(mavlinkChannel);
-
-    if (mavlinkStatus->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) {
-        return;
-    }
-
-    if (mavlink_get_proto_version(mavlinkChannel) == 1) {
-        qCDebug(MAVLinkProtocolLog) << "Switching outbound to mavlink 2.0 due to incoming mavlink 2.0 packet:" << mavlinkChannel;
-        setVersion(200);
-    }
-}
-
 void MAVLinkProtocol::_updateCounters(uint8_t mavlinkChannel, const mavlink_message_t &message)
 {
     _totalReceiveCounter[mavlinkChannel]++;
diff --git a/src/Comms/MAVLinkProtocol.h b/src/Comms/MAVLinkProtocol.h
@@ -51,21 +51,12 @@ class MAVLinkProtocol : public QObject
     /// Get the component id of this application
     static int getComponentId() { return MAV_COMP_ID_MISSIONPLANNER; }
 
-    /// Get the protocol version
-    static int getVersion() { return MAVLINK_VERSION; }
-
-    /// Get the currently configured protocol version
-    unsigned getCurrentVersion() const { return _currentVersion; }
-
     /// Reset the counters for all metadata for this link.
     void resetMetadataForLink(LinkInterface *link);
 
     /// Suspend/Restart logging during replay.
     void suspendLogForReplay(bool suspend) { _logSuspendReplay = suspend; }
 
-    /// Set protocol version
-    void setVersion(unsigned version);
-
     /// Checks the temp directory for log files which may have been left there.
     /// This could happen if QGC crashes without the temp log file being saved.
     /// Give the user an option to save these orphaned files.
@@ -107,7 +98,6 @@ private slots:
 
     void _updateCounters(uint8_t mavlinkChannel, const mavlink_message_t &message);
     bool _updateStatus(LinkInterface *link, const SharedLinkInterfacePtr linkPtr, uint8_t mavlinkChannel, const mavlink_message_t &message);
-    void _updateVersion(LinkInterface *link, uint8_t mavlinkChannel);
 
     void _saveTelemetryLog(const QString &tempLogfile);
     bool _checkTelemetrySavePath();
@@ -124,7 +114,6 @@ private slots:
     uint64_t _totalLossCounter[MAVLINK_COMM_NUM_BUFFERS]{};     ///< Total messages lost during transmission.
     float _runningLossPercent[MAVLINK_COMM_NUM_BUFFERS]{};      ///< Loss rate
 
-    unsigned _currentVersion = 100;
     bool _initialized = false;
 
     static constexpr const char *_tempLogFileTemplate = "FlightDataXXXXXX"; ///< Template for temporary log file
diff --git a/src/Comms/MockLink/MockConfiguration.h b/src/Comms/MockLink/MockConfiguration.h
@@ -59,8 +59,6 @@ class MockConfiguration : public LinkConfiguration
         FailMissingParamOnAllRequests,                              // Not all params are sent on initial request, QGC retries will fail as well
         FailInitialConnectRequestMessageAutopilotVersionFailure,    // REQUEST_MESSAGE:AUTOPILOT_VERSION returns failure
         FailInitialConnectRequestMessageAutopilotVersionLost,       // REQUEST_MESSAGE:AUTOPILOT_VERSION success, AUTOPILOT_VERSION never sent
-        FailInitialConnectRequestMessageProtocolVersionFailure,     // REQUEST_MESSAGE:PROTOCOL_VERSION returns failure
-        FailInitialConnectRequestMessageProtocolVersionLost,        // REQUEST_MESSAGE:PROTOCOL_VERSION success, PROTOCOL_VERSION never sent
     };
     FailureMode_t failureMode() const { return _failureMode; }
     void setFailureMode(FailureMode_t failureMode) { _failureMode = failureMode; }
diff --git a/src/Comms/MockLink/MockLink.cc b/src/Comms/MockLink/MockLink.cc
@@ -1818,39 +1818,6 @@ void MockLink::_handleRequestMessageAutopilotVersion(const mavlink_command_long_
     _respondWithAutopilotVersion();
 }
 
-void MockLink::_handleRequestMessageProtocolVersion(const mavlink_command_long_t &request, bool &accepted)
-{
-    accepted = true;
-
-    switch (_failureMode) {
-    case MockConfiguration::FailNone:
-        break;
-    case MockConfiguration::FailInitialConnectRequestMessageProtocolVersionFailure:
-        accepted = false;
-        return;
-    case MockConfiguration::FailInitialConnectRequestMessageProtocolVersionLost:
-        accepted = true;
-        return;
-    default:
-        break;
-    }
-
-    const uint8_t nullHash[8]{};
-    mavlink_message_t responseMsg{};
-    (void) mavlink_msg_protocol_version_pack_chan(
-        _vehicleSystemId,
-        _vehicleComponentId,
-        mavlinkChannel(),
-        &responseMsg,
-        200,
-        100,
-        200,
-        nullHash,
-        nullHash
-    );
-    respondWithMavlinkMessage(responseMsg);
-}
-
 void MockLink::_handleRequestMessageDebug(const mavlink_command_long_t &request, bool &accepted, bool &noAck)
 {
     accepted = true;
@@ -1946,9 +1913,6 @@ void MockLink::_handleRequestMessage(const mavlink_command_long_t &request, bool
     case MAVLINK_MSG_ID_AUTOPILOT_VERSION:
         _handleRequestMessageAutopilotVersion(request, accepted);
         break;
-    case MAVLINK_MSG_ID_PROTOCOL_VERSION:
-        _handleRequestMessageProtocolVersion(request, accepted);
-        break;
     case MAVLINK_MSG_ID_COMPONENT_METADATA:
         if (_firmwareType == MAV_AUTOPILOT_PX4) {
             _sendGeneralMetaData();
diff --git a/src/Comms/MockLink/MockLink.h b/src/Comms/MockLink/MockLink.h
@@ -186,7 +186,6 @@ private slots:
     void _handleParamMapRC(const mavlink_message_t &msg);
     void _handleRequestMessage(const mavlink_command_long_t &request, bool &accepted, bool &noAck);
     void _handleRequestMessageAutopilotVersion(const mavlink_command_long_t &request, bool &accepted);
-    void _handleRequestMessageProtocolVersion(const mavlink_command_long_t &request, bool &accepted);
     void _handleRequestMessageDebug(const mavlink_command_long_t &request, bool &accepted, bool &noAck);
     void _handleRequestMessageAvailableModes(const mavlink_command_long_t &request, bool &accepted);
     void _handleRequestMessageGimbalManagerInformation(const mavlink_command_long_t &request, bool &accepted);
diff --git a/src/MissionManager/GeoFenceController.cc b/src/MissionManager/GeoFenceController.cc
@@ -105,17 +105,11 @@ void GeoFenceController::_managerVehicleChanged(Vehicle* managerVehicle)
     connect(_geoFenceManager, &GeoFenceManager::removeAllComplete,              this, &GeoFenceController::_managerRemoveAllComplete);
     connect(_geoFenceManager, &GeoFenceManager::inProgressChanged,              this, &GeoFenceController::syncInProgressChanged);
 
-    //-- GeoFenceController::supported() tests both the capability bit AND the protocol version.
     (void) connect(_managerVehicle, &Vehicle::capabilityBitsChanged, this, [this](uint64_t capabilityBits) {
         Q_UNUSED(capabilityBits);
         emit supportedChanged(supported());
     });
 
-    (void) connect(_managerVehicle, &Vehicle::requestProtocolVersion, this, [this](unsigned version) {
-        Q_UNUSED(version);
-        emit supportedChanged(supported());
-    });
-
     connect(_managerVehicle->parameterManager(), &ParameterManager::parametersReadyChanged, this, &GeoFenceController::_parametersReady);
     _parametersReady();
 
@@ -489,7 +483,7 @@ void GeoFenceController::clearAllInteractive(void)
 
 bool GeoFenceController::supported(void) const
 {
-    return (_managerVehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_FENCE) && (_managerVehicle->maxProtoVersion() >= 200);
+    return _managerVehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_FENCE;
 }
 
 /* Returns the radius of the "paramCircularFence"
diff --git a/src/MissionManager/GeoFenceManager.cc b/src/MissionManager/GeoFenceManager.cc
@@ -193,5 +193,5 @@ void GeoFenceManager::_planManagerLoadComplete(bool removeAllRequested)
 
 bool GeoFenceManager::supported(void) const
 {
-    return (_vehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_FENCE) && (_vehicle->maxProtoVersion() >= 200);
+    return _vehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_FENCE;
 }
diff --git a/src/MissionManager/MavCmdInfoCommon.json b/src/MissionManager/MavCmdInfoCommon.json
@@ -1145,7 +1145,6 @@
         { "id": 510, "rawName": "MAV_CMD_GET_MESSAGE_INTERVAL", "friendlyName": "Get message interval" },
         { "id": 511, "rawName": "MAV_CMD_SET_MESSAGE_INTERVAL", "friendlyName": "Set message interval" },
         { "id": 512, "rawName": "MAV_CMD_REQUEST_MESSAGE" },
-        { "id": 519, "rawName": "MAV_CMD_REQUEST_PROTOCOL_VERSION" },
         { "id": 520, "rawName": "MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES", "friendlyName": "Get capabilities" },
         {
             "id":           530,
diff --git a/src/MissionManager/RallyPointController.cc b/src/MissionManager/RallyPointController.cc
@@ -66,17 +66,11 @@ void RallyPointController::_managerVehicleChanged(Vehicle* managerVehicle)
     connect(_rallyPointManager, &RallyPointManager::removeAllComplete,  this, &RallyPointController::_managerRemoveAllComplete);
     connect(_rallyPointManager, &RallyPointManager::inProgressChanged,  this, &RallyPointController::syncInProgressChanged);
 
-    //-- RallyPointController::supported() tests both the capability bit AND the protocol version.
     (void) connect(_managerVehicle, &Vehicle::capabilityBitsChanged, this, [this](uint64_t capabilityBits) {
         Q_UNUSED(capabilityBits);
         emit supportedChanged(supported());
     });
 
-    (void) connect(_managerVehicle, &Vehicle::requestProtocolVersion, this, [this](unsigned version) {
-        Q_UNUSED(version);
-        emit supportedChanged(supported());
-    });
-
     emit supportedChanged(supported());
 }
 
@@ -261,7 +255,7 @@ void RallyPointController::addPoint(QGeoCoordinate point)
 
 bool RallyPointController::supported(void) const
 {
-    return (_managerVehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_RALLY) && (_managerVehicle->maxProtoVersion() >= 200);
+    return _managerVehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_RALLY;
 }
 
 void RallyPointController::removePoint(QObject* rallyPoint)
diff --git a/src/MissionManager/RallyPointManager.cc b/src/MissionManager/RallyPointManager.cc
@@ -71,7 +71,7 @@ void RallyPointManager::removeAll(void)
 
 bool RallyPointManager::supported(void) const
 {
-    return (_vehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_RALLY) && (_vehicle->maxProtoVersion() >= 200);
+    return _vehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_RALLY;
 }
 
 void RallyPointManager::_planManagerLoadComplete(bool removeAllRequested)
diff --git a/src/Settings/MavlinkSettings.cc b/src/Settings/MavlinkSettings.cc
@@ -47,7 +47,6 @@ DECLARE_SETTINGSFACT(MavlinkSettings, forwardMavlinkHostName)
 DECLARE_SETTINGSFACT(MavlinkSettings, forwardMavlinkAPMSupportHostName)
 DECLARE_SETTINGSFACT(MavlinkSettings, sendGCSHeartbeat)
 DECLARE_SETTINGSFACT(MavlinkSettings, gcsMavlinkSystemID)
-DECLARE_SETTINGSFACT(MavlinkSettings, requireMatchingMavlinkVersions)
 
 DECLARE_SETTINGSFACT_NO_FUNC(MavlinkSettings, mavlink2SigningKey)
 {
diff --git a/src/Settings/MavlinkSettings.h b/src/Settings/MavlinkSettings.h
@@ -33,7 +33,6 @@ class MavlinkSettings : public SettingsGroup
     DEFINE_SETTINGFACT(mavlink2SigningKey)
     DEFINE_SETTINGFACT(sendGCSHeartbeat)
     DEFINE_SETTINGFACT(gcsMavlinkSystemID)
-    DEFINE_SETTINGFACT(requireMatchingMavlinkVersions)
 
     // Although this is a global setting it only affects ArduPilot vehicle since PX4 automatically starts the stream from the vehicle side
     DEFINE_SETTINGFACT(apmStartMavlinkStreams)
diff --git a/src/Vehicle/InitialConnectStateMachine.cc b/src/Vehicle/InitialConnectStateMachine.cc
@@ -174,11 +174,7 @@ void InitialConnectStateMachine::_autopilotVersionRequestMessageHandler(void* re
 
     if (failureCode != Vehicle::RequestMessageNoFailure) {
         qCDebug(InitialConnectStateMachineLog) << "REQUEST_MESSAGE:AUTOPILOT_VERSION failed. Setting no capabilities";
-        uint64_t assumedCapabilities = 0;
-        if (vehicle->_mavlinkProtocolRequestMaxProtoVersion >= 200) {
-            // Link already running mavlink 2
-            assumedCapabilities |= MAV_PROTOCOL_CAPABILITY_MAVLINK2;
-        }
+        uint64_t assumedCapabilities = MAV_PROTOCOL_CAPABILITY_MAVLINK2;
         if (vehicle->px4Firmware() || vehicle->apmFirmware()) {
             // We make some assumptions for known firmware
             assumedCapabilities |= MAV_PROTOCOL_CAPABILITY_MISSION_INT | MAV_PROTOCOL_CAPABILITY_COMMAND_INT | MAV_PROTOCOL_CAPABILITY_MISSION_FENCE | MAV_PROTOCOL_CAPABILITY_MISSION_RALLY;
@@ -189,74 +185,6 @@ void InitialConnectStateMachine::_autopilotVersionRequestMessageHandler(void* re
     connectMachine->advance();
 }
 
-void InitialConnectStateMachine::_stateRequestProtocolVersion(StateMachine* stateMachine)
-{
-    InitialConnectStateMachine* connectMachine  = static_cast<InitialConnectStateMachine*>(stateMachine);
-    Vehicle*                    vehicle         = connectMachine->_vehicle;
-    SharedLinkInterfacePtr      sharedLink      = vehicle->vehicleLinkManager()->primaryLink().lock();
-
-    if (!sharedLink) {
-        qCDebug(InitialConnectStateMachineLog) << "Skipping REQUEST_MESSAGE:PROTOCOL_VERSION request due to no primary link";
-        connectMachine->advance();
-    } else {
-        if (sharedLink->linkConfiguration()->isHighLatency() || sharedLink->isLogReplay()) {
-            qCDebug(InitialConnectStateMachineLog) << "Skipping REQUEST_MESSAGE:PROTOCOL_VERSION request due to link type";
-            connectMachine->advance();
-        } else if (vehicle->apmFirmware()) {
-            qCDebug(InitialConnectStateMachineLog) << "Skipping REQUEST_MESSAGE:PROTOCOL_VERSION request due to Ardupilot firmware";
-            connectMachine->advance();
-        } else {
-            qCDebug(InitialConnectStateMachineLog) << "Sending REQUEST_MESSAGE:PROTOCOL_VERSION";
-            vehicle->requestMessage(_protocolVersionRequestMessageHandler,
-                                    connectMachine,
-                                    MAV_COMP_ID_AUTOPILOT1,
-                                    MAVLINK_MSG_ID_PROTOCOL_VERSION);
-        }
-    }
-}
-
-void InitialConnectStateMachine::_protocolVersionRequestMessageHandler(void* resultHandlerData, MAV_RESULT commandResult, Vehicle::RequestMessageResultHandlerFailureCode_t failureCode, const mavlink_message_t& message)
-{
-    InitialConnectStateMachine* connectMachine  = static_cast<InitialConnectStateMachine*>(resultHandlerData);
-    Vehicle*                    vehicle         = connectMachine->_vehicle;
-
-    switch (failureCode) {
-    case Vehicle::RequestMessageNoFailure:
-    {
-        mavlink_protocol_version_t protoVersion;
-        mavlink_msg_protocol_version_decode(&message, &protoVersion);
-
-        qCDebug(InitialConnectStateMachineLog) << "PROTOCOL_VERSION received mav_version:" << protoVersion.max_version;
-        vehicle->_mavlinkProtocolRequestMaxProtoVersion = protoVersion.max_version;
-        vehicle->_mavlinkProtocolRequestComplete = true;
-        vehicle->_setMaxProtoVersionFromBothSources();
-    }
-        break;
-    case Vehicle::RequestMessageFailureCommandError:
-        qCDebug(InitialConnectStateMachineLog) << QStringLiteral("REQUEST_MESSAGE PROTOCOL_VERSION command error(%1)").arg(commandResult);
-        break;
-    case Vehicle::RequestMessageFailureCommandNotAcked:
-        qCDebug(InitialConnectStateMachineLog) << "REQUEST_MESSAGE PROTOCOL_VERSION command never acked";
-        break;
-    case Vehicle::RequestMessageFailureMessageNotReceived:
-        qCDebug(InitialConnectStateMachineLog) << "REQUEST_MESSAGE PROTOCOL_VERSION command acked but message never received";
-        break;
-    case Vehicle::RequestMessageFailureDuplicateCommand:
-        qCDebug(InitialConnectStateMachineLog) << "REQUEST_MESSAGE PROTOCOL_VERSION Internal Error: Duplicate command";
-        break;
-    }
-
-    if (failureCode != Vehicle::RequestMessageNoFailure) {
-        // Either the PROTOCOL_VERSION message didn't make it through the pipe from Vehicle->QGC because the pipe is mavlink 1.
-        // Or the PROTOCOL_VERSION message was lost on a noisy connection. Either way the best we can do is fall back to mavlink 1.
-        qCDebug(InitialConnectStateMachineLog) << QStringLiteral("Setting _maxProtoVersion to 100 due to timeout on receiving PROTOCOL_VERSION message.");
-        vehicle->_mavlinkProtocolRequestMaxProtoVersion = 100;
-        vehicle->_mavlinkProtocolRequestComplete = true;
-        vehicle->_setMaxProtoVersionFromBothSources();
-    }
-
-    connectMachine->advance();
-}
 void InitialConnectStateMachine::_stateRequestCompInfo(StateMachine* stateMachine)
 {
     InitialConnectStateMachine* connectMachine  = static_cast<InitialConnectStateMachine*>(stateMachine);
diff --git a/src/Vehicle/InitialConnectStateMachine.h b/src/Vehicle/InitialConnectStateMachine.h
diff --git a/src/Vehicle/MultiVehicleManager.cc b/src/Vehicle/MultiVehicleManager.cc
diff --git a/src/Vehicle/MultiVehicleManager.h b/src/Vehicle/MultiVehicleManager.h
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
diff --git a/test/Vehicle/InitialConnectTest.cc b/test/Vehicle/InitialConnectTest.cc

Original file line number	Diff line number	Diff line change
`@@ -193,5 +193,5 @@ void GeoFenceManager::_planManagerLoadComplete(bool removeAllRequested)`
`193`	`193`
`194`	`194`	`bool GeoFenceManager::supported(void) const`
`195`	`195`	`{`
`196`		`- return (_vehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_FENCE) && (_vehicle->maxProtoVersion() >= 200);`
	`196`	`+ return _vehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_FENCE;`
`197`	`197`	`}`