FirmwarePlugin.cc

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#include "FirmwarePlugin.h"
#include "AutoPilotPlugin.h"
#include "Autotune.h"
#include "GenericAutoPilotPlugin.h"
#include "MAVLinkLib.h"
#include "MAVLinkProtocol.h"
#include "ParameterMetaData.h"
#include "AppMessages.h"
#include "QGCApplication.h"
#include "QGCCameraManager.h"
#include "QGCFileDownload.h"
#include "QGCLoggingCategory.h"
#include "Vehicle.h"
#include "VehicleLinkManager.h"
#include "VehicleCameraControl.h"
#include "VehicleComponent.h"
 
#include "QGCCompression.h"
#include "QGCFileHelper.h"
 
#include <QtCore/QDir>
#include <QtCore/QFile>
#include <QtCore/QRegularExpression>
#include <QtCore/QStandardPaths>
#include <QtCore/QThread>
 
QGC_LOGGING_CATEGORY(FirmwarePluginLog, "FirmwarePlugin.FirmwarePlugin")
 
static const QString guided_mode_not_supported_by_vehicle = QObject::tr("Guided mode not supported by Vehicle.");
 
FirmwarePlugin::FirmwarePlugin(QObject *parent)
    : QObject(parent)
{
    qCDebug(FirmwarePluginLog) << this;
}
 
FirmwarePlugin::~FirmwarePlugin()
{
    qCDebug(FirmwarePluginLog) << this;
}
 
AutoPilotPlugin *FirmwarePlugin::autopilotPlugin(Vehicle *vehicle) const
{
    return new GenericAutoPilotPlugin(vehicle, vehicle);
}
 
QString FirmwarePlugin::flightMode(uint8_t base_mode, uint32_t custom_mode) const
{
    Q_UNUSED(custom_mode);
 
    struct Bit2Name {
        const uint8_t baseModeBit;
        const char *name;
    };
 
    static constexpr Bit2Name rgBit2Name[] = {
        { MAV_MODE_FLAG_MANUAL_INPUT_ENABLED, "Manual" },
        { MAV_MODE_FLAG_STABILIZE_ENABLED, "Stabilize" },
        { MAV_MODE_FLAG_GUIDED_ENABLED, "Guided" },
        { MAV_MODE_FLAG_AUTO_ENABLED, "Auto" },
        { MAV_MODE_FLAG_TEST_ENABLED, "Test" },
    };
 
    QString flightMode;
    if (base_mode == 0) {
        flightMode = "PreFlight";
    } else if (base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
        flightMode = _modeEnumToString.value(custom_mode, QStringLiteral("Custom:0x%1").arg(custom_mode, 0, 16));
    } else {
        for (size_t i = 0; i < std::size(rgBit2Name); i++) {
            if (base_mode & rgBit2Name[i].baseModeBit) {
                if (i != 0) {
                    flightMode += " ";
                }
                flightMode += rgBit2Name[i].name;
            }
        }
    }
 
    return flightMode;
}
 
bool FirmwarePlugin::setFlightMode(const QString &flightMode, uint8_t *base_mode, uint32_t *custom_mode) const
{
    Q_UNUSED(flightMode);
    Q_UNUSED(base_mode);
    Q_UNUSED(custom_mode);
 
    qCWarning(FirmwarePluginLog) << "FirmwarePlugin::setFlightMode called on base class, not supported";
 
    return false;
}
 
QString FirmwarePlugin::missionCommandOverrides(QGCMAVLink::VehicleClass_t vehicleClass) const
{
    switch (vehicleClass) {
    case QGCMAVLink::VehicleClassGeneric:
        return QStringLiteral(":/json/MavCmdInfoCommon.json");
    case QGCMAVLink::VehicleClassFixedWing:
        return QStringLiteral(":/json/MavCmdInfoFixedWing.json");
    case QGCMAVLink::VehicleClassMultiRotor:
        return QStringLiteral(":/json/MavCmdInfoMultiRotor.json");
    case QGCMAVLink::VehicleClassVTOL:
        return QStringLiteral(":/json/MavCmdInfoVTOL.json");
    case QGCMAVLink::VehicleClassSub:
        return QStringLiteral(":/json/MavCmdInfoSub.json");
    case QGCMAVLink::VehicleClassRoverBoat:
        return QStringLiteral(":/json/MavCmdInfoRover.json");
    default:
        qCWarning(FirmwarePluginLog) << "FirmwarePlugin::missionCommandOverrides called with bad VehicleClass_t:" << vehicleClass;
        return QString();
    }
}
 
void FirmwarePlugin::setGuidedMode(Vehicle *vehicle, bool guidedMode) const
{
    Q_UNUSED(vehicle);
    Q_UNUSED(guidedMode);
    QGC::showAppMessage(guided_mode_not_supported_by_vehicle);
}
 
void FirmwarePlugin::pauseVehicle(Vehicle *vehicle) const
{
    Q_UNUSED(vehicle);
    QGC::showAppMessage(guided_mode_not_supported_by_vehicle);
}
 
void FirmwarePlugin::guidedModeRTL(Vehicle *vehicle, bool smartRTL) const
{
    Q_UNUSED(vehicle);
    Q_UNUSED(smartRTL);
    QGC::showAppMessage(guided_mode_not_supported_by_vehicle);
}
 
void FirmwarePlugin::guidedModeLand(Vehicle *vehicle) const
{
    Q_UNUSED(vehicle);
    QGC::showAppMessage(guided_mode_not_supported_by_vehicle);
}
 
void FirmwarePlugin::guidedModeTakeoff(Vehicle *vehicle, double takeoffAltRel) const
{
    Q_UNUSED(vehicle);
    Q_UNUSED(takeoffAltRel);
    QGC::showAppMessage(guided_mode_not_supported_by_vehicle);
}
 
bool FirmwarePlugin::guidedModeGotoLocation(Vehicle *vehicle, const QGeoCoordinate &gotoCoord, double forwardFlightLoiterRadius) const
{
    Q_UNUSED(vehicle);
    Q_UNUSED(gotoCoord);
    Q_UNUSED(forwardFlightLoiterRadius);
    QGC::showAppMessage(guided_mode_not_supported_by_vehicle);
    return false;
}
 
void FirmwarePlugin::guidedModeChangeAltitude(Vehicle*, double, bool pauseVehicle)
{
    Q_UNUSED(pauseVehicle);
    QGC::showAppMessage(guided_mode_not_supported_by_vehicle);
}
 
void FirmwarePlugin::guidedModeChangeGroundSpeedMetersSecond(Vehicle*, double) const
{
    QGC::showAppMessage(guided_mode_not_supported_by_vehicle);
}
 
void FirmwarePlugin::guidedModeChangeEquivalentAirspeedMetersSecond(Vehicle*, double) const
{
    QGC::showAppMessage(guided_mode_not_supported_by_vehicle);
}
 
void FirmwarePlugin::guidedModeChangeHeading(Vehicle *vehicle, const QGeoCoordinate &/*headingCoord*/) const
{
    Q_UNUSED(vehicle);
    QGC::showAppMessage(guided_mode_not_supported_by_vehicle);
}
 
void FirmwarePlugin::startTakeoff(Vehicle*) const
{
    // Not supported by generic vehicle
    QGC::showAppMessage(guided_mode_not_supported_by_vehicle);
}
 
void FirmwarePlugin::startMission(Vehicle*) const
{
    QGC::showAppMessage(guided_mode_not_supported_by_vehicle);
}
 
const FirmwarePlugin::remapParamNameMajorVersionMap_t &FirmwarePlugin::paramNameRemapMajorVersionMap(void) const
{
    static const remapParamNameMajorVersionMap_t remap;
 
    return remap;
}
 
const QVariantList &FirmwarePlugin::toolIndicators(const Vehicle*)
{
    //-- Default list of indicators for all vehicles.
    if (_toolIndicatorList.isEmpty()) {
        _toolIndicatorList = QVariantList({
            QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/VehicleGPSIndicator.qml")),
            QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/GPSResilienceIndicator.qml")),
            QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/TelemetryRSSIIndicator.qml")),
            QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/RCRSSIIndicator.qml")),
            QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/BatteryIndicator.qml")),
            QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/RemoteIDIndicator.qml")),
            QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/GimbalIndicator.qml")),
            QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/EscIndicator.qml")),
            QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/JoystickIndicator.qml")),
            QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/MultiVehicleSelector.qml")),
#ifdef QT_DEBUG
            // ControlIndicator is only available in debug builds for the moment
            QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/GCSControlIndicator.qml")),
#endif
        });
    }
 
    return _toolIndicatorList;
}
 
bool FirmwarePlugin::_armVehicleAndValidate(Vehicle *vehicle) const
{
    if (vehicle->armed()) {
        return true;
    }
 
    bool vehicleArmed = false;
 
    // Only try arming the vehicle a single time. Doing retries on arming with a delay can lead to safety issues.
    vehicle->setArmed(true, false /* showError */);
 
    // Wait 1500 msecs for vehicle to arm (waiting for the next heartbeat)
    for (int i = 0; i < 15; i++) {
        if (vehicle->armed()) {
            vehicleArmed = true;
            break;
        }
        QThread::msleep(100);
        QCoreApplication::processEvents(QEventLoop::ExcludeUserInputEvents);
    }
 
    return vehicleArmed;
}
 
bool FirmwarePlugin::_setFlightModeAndValidate(Vehicle *vehicle, const QString &flightMode) const
{
    if (vehicle->flightMode() == flightMode) {
        return true;
    }
 
    bool flightModeChanged = false;
 
    // We try 3 times
    for (int retries = 0; retries < 3; retries++) {
        vehicle->setFlightMode(flightMode);
 
        // Wait for vehicle to return flight mode
        for (int i = 0; i < 13; i++) {
            if (vehicle->flightMode() == flightMode) {
                flightModeChanged = true;
                break;
            }
            QThread::msleep(100);
            QCoreApplication::processEvents(QEventLoop::ExcludeUserInputEvents);
        }
 
        if (flightModeChanged) {
            break;
        }
    }
 
    return flightModeChanged;
}
 
 
void FirmwarePlugin::batteryConsumptionData(Vehicle *vehicle, int &mAhBattery, double &hoverAmps, double &cruiseAmps) const
{
    Q_UNUSED(vehicle);
    mAhBattery = 0;
    hoverAmps = 0;
    cruiseAmps = 0;
}
 
bool FirmwarePlugin::hasGimbal(Vehicle *vehicle, bool &rollSupported, bool &pitchSupported, bool &yawSupported) const
{
    Q_UNUSED(vehicle);
    rollSupported = false;
    pitchSupported = false;
    yawSupported = false;
    return false;
}
 
QGCCameraManager *FirmwarePlugin::createCameraManager(Vehicle *vehicle) const
{
    return new QGCCameraManager(vehicle);
}
 
MavlinkCameraControlInterface *FirmwarePlugin::createCameraControl(const mavlink_camera_information_t *info, Vehicle *vehicle, int compID, QObject *parent) const
{
    return new VehicleCameraControl(info, vehicle, compID, parent);
}
 
void FirmwarePlugin::checkIfIsLatestStable(Vehicle *vehicle) const
{
    // This is required as mocklink uses a hardcoded firmware version
    if (QGC::runningUnitTests()) {
        qCDebug(FirmwarePluginLog) << "Skipping version check";
        return;
    }
 
    const QString versionFile = _getLatestVersionFileUrl(vehicle);
    qCDebug(FirmwarePluginLog) << "Downloading" << versionFile;
    QGCFileDownload *const downloader = new QGCFileDownload(vehicle);
    (void) connect(downloader, &QGCFileDownload::finished, this, [vehicle, this, versionFile](bool success, const QString &localFile, const QString &errorMsg) {
        if (success) {
            _versionFileDownloadFinished(versionFile, localFile, vehicle);
        } else if (!errorMsg.isEmpty()) {
            qCDebug(FirmwarePluginLog) << "Failed to download the latest fw version file. Error:" << errorMsg;
        }
        sender()->deleteLater();
    });
 
    if (!downloader->start(versionFile)) {
        downloader->deleteLater();
    }
}
 
void FirmwarePlugin::_versionFileDownloadFinished(const QString &remoteFile, const QString &localFile, const Vehicle *vehicle) const
{
    qCDebug(FirmwarePluginLog) << "Download complete" << remoteFile << localFile;
    // Now read the version file and pull out the version string
    QFile versionFile(localFile);
    if (!versionFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
        qCWarning(FirmwarePluginLog) << "Error opening downloaded version file.";
        return;
    }
 
    QTextStream stream(&versionFile);
    const QString versionFileContents = stream.readAll();
    QString version;
    const QRegularExpressionMatch match = QRegularExpression(_versionRegex()).match(versionFileContents);
 
    qCDebug(FirmwarePluginLog) << "Looking for version number...";
 
    if (match.hasMatch()) {
        version = match.captured(1);
    } else {
        qCWarning(FirmwarePluginLog) << "Unable to parse version info from file" << remoteFile;
        return;
    }
 
    qCDebug(FirmwarePluginLog) << "Latest stable version = "  << version;
 
    const int currType = vehicle->firmwareVersionType();
 
    // Check if lower version than stable or same version but different type
    if ((currType == FIRMWARE_VERSION_TYPE_OFFICIAL) && (vehicle->versionCompare(version) < 0)) {
        const QString currentVersionNumber = QStringLiteral("%1.%2.%3").arg(vehicle->firmwareMajorVersion())
                                                                       .arg(vehicle->firmwareMinorVersion())
                                                                       .arg(vehicle->firmwarePatchVersion());
        QGC::showAppMessage(tr("Vehicle is not running latest stable firmware! Running %1, latest stable is %2.").arg(currentVersionNumber, version));
    }
}
 
int FirmwarePlugin::versionCompare(const Vehicle *vehicle, int major, int minor, int patch) const
{
    const int currMajor = vehicle->firmwareMajorVersion();
    const int currMinor = vehicle->firmwareMinorVersion();
    const int currPatch = vehicle->firmwarePatchVersion();
 
    if ((currMajor == major) && (currMinor == minor) && (currPatch == patch)) {
        return 0;
    }
 
    if ((currMajor > major)
       || ((currMajor == major) && (currMinor > minor))
       || ((currMajor == major) && (currMinor == minor) && (currPatch > patch)))
    {
        return 1;
    }
 
    return -1;
}
 
int FirmwarePlugin::versionCompare(const Vehicle *vehicle, const QString &compare) const
{
    const QStringList versionNumbers = compare.split(".");
    if (versionNumbers.size() != 3) {
        qCWarning(FirmwarePluginLog) << "Error parsing version number: wrong format";
        return -1;
    }
 
    const int major = versionNumbers[0].toInt();
    const int minor = versionNumbers[1].toInt();
    const int patch = versionNumbers[2].toInt();
 
    return versionCompare(vehicle, major, minor, patch);
}
 
void FirmwarePlugin::sendGCSMotionReport(Vehicle *vehicle, const FollowMe::GCSMotionReport &motionReport, uint8_t estimationCapabilities) const
{
    SharedLinkInterfacePtr sharedLink = vehicle->vehicleLinkManager()->primaryLink().lock();
    if (!sharedLink) {
        return;
    }
 
    mavlink_follow_target_t follow_target{};
 
    follow_target.timestamp = qgcApp()->msecsSinceBoot();
    follow_target.est_capabilities = estimationCapabilities;
    follow_target.position_cov[0] = static_cast<float>(motionReport.pos_std_dev[0]);
    follow_target.position_cov[2] = static_cast<float>(motionReport.pos_std_dev[2]);
    follow_target.alt = static_cast<float>(motionReport.altMetersAMSL);
    follow_target.lat = motionReport.lat_int;
    follow_target.lon = motionReport.lon_int;
    follow_target.vel[0] = static_cast<float>(motionReport.vxMetersPerSec);
    follow_target.vel[1] = static_cast<float>(motionReport.vyMetersPerSec);
 
    mavlink_message_t message{};
    mavlink_msg_follow_target_encode_chan(
        static_cast<uint8_t>(MAVLinkProtocol::instance()->getSystemId()),
        static_cast<uint8_t>(MAVLinkProtocol::getComponentId()),
        sharedLink->mavlinkChannel(),
        &message,
        &follow_target
    );
 
    (void) vehicle->sendMessageOnLinkThreadSafe(sharedLink.get(), message);
}
 
Autotune *FirmwarePlugin::createAutotune(Vehicle *vehicle) const
{
    return new Autotune(vehicle);
}
 
void FirmwarePlugin::_updateFlightModeList(FlightModeList &flightModeList)
{
    _flightModeList.clear();
    _modeEnumToString.clear();
 
    for (FirmwareFlightMode &flightMode : flightModeList) {
        _modeEnumToString[flightMode.custom_mode] = flightMode.mode_name;
        _addNewFlightMode(flightMode);
    }
 
    for (const FirmwareFlightMode &flightMode : _flightModeList) {
        qCDebug(FirmwarePluginLog) << "Flight Mode:" << flightMode.mode_name << " Custom Mode:" << flightMode.custom_mode;
    }
}
 
void FirmwarePlugin::_addNewFlightMode(FirmwareFlightMode &newFlightMode)
{
    for (const FirmwareFlightMode &existingFlightMode : _flightModeList) {
        if (existingFlightMode.custom_mode == newFlightMode.custom_mode) {
            qCDebug(FirmwarePluginLog) << "Flight Mode:" << newFlightMode.mode_name << " Custom Mode:" << newFlightMode.custom_mode
                                       << " already exists, not adding again.";
            return;
        }
    }
    _flightModeList += newFlightMode;
}
 
/*===========================================================================*/
 
static constexpr const char *kCachedMetaDataFilePrefix = "ParameterFactMetaData";
 
static QDir _parameterMetaDataCacheDir(bool ensureExists = false)
{
    const QString path = QStandardPaths::writableLocation(QStandardPaths::CacheLocation)
                         + QStringLiteral("/ParameterMetaData");
    if (ensureExists) {
        QGCFileHelper::ensureDirectoryExists(path);
    }
    return QDir(path);
}
 
ParameterMetaData *FirmwarePlugin::loadParameterMetaData(const Vehicle *vehicle)
{
    ParameterMetaData *metaData = _createParameterMetaData();
    if (!metaData) {
        qCWarning(FirmwarePluginLog) << "No parameter metadata parser for firmware plugin" << this;
        return nullptr;
    }
 
    const QString metaDataFile = _cachedParameterMetaDataFile(vehicle);
    if (!metaDataFile.isEmpty()) {
        metaData->loadParameterFactMetaDataFile(metaDataFile);
    }
    return metaData;
}
 
QString FirmwarePlugin::_cachedParameterMetaDataFile(const Vehicle *vehicle) const
{
    const MAV_AUTOPILOT autopilot = _autopilotType();
    if (autopilot == MAV_AUTOPILOT_GENERIC) {
        return _internalParameterMetaDataFile(vehicle);
    }
 
    const QString internalFile = _internalParameterMetaDataFile(vehicle);
    QVersionNumber internalVersion = ParameterMetaData::versionFromFileName(internalFile);
    if (internalVersion.isNull()) {
        internalVersion = ParameterMetaData::versionFromMetaDataFile(internalFile);
    }
 
    // Without a known internal version we can't safely compare against
    // cache — use the bundled file to avoid stale overrides.
    if (internalVersion.isNull() || QGC::runningUnitTests()) {
        qCDebug(FirmwarePluginLog) << "Using internal parameter metadata:" << internalFile;
        return internalFile;
    }
 
    const int wantedMajorVersion = internalVersion.majorVersion();
 
    const QDir cacheDir = _parameterMetaDataCacheDir();
    const QString wildcard = QStringLiteral("%1_%2.*.json").arg(kCachedMetaDataFilePrefix).arg(autopilot);
    const QStringList entries = cacheDir.entryList(QStringList(wildcard), QDir::Files);
 
    QString bestFile;
    QVersionNumber bestVersion;
    for (const QString &entry : entries) {
        const QVersionNumber ver = ParameterMetaData::versionFromFileName(entry);
        if (ver.isNull() || ver.majorVersion() != wantedMajorVersion) {
            continue;
        }
        if (bestVersion.isNull() || ver > bestVersion) {
            bestVersion = ver;
            bestFile = cacheDir.filePath(entry);
        }
    }
 
    if (bestFile.isEmpty()) {
        qCDebug(FirmwarePluginLog) << "No cached parameter metadata found, using internal:" << internalFile;
        return internalFile;
    }
 
    if (internalVersion.majorVersion() == wantedMajorVersion && bestVersion <= internalVersion) {
        qCDebug(FirmwarePluginLog) << "Internal metadata" << internalVersion.toString() << ">=  cache" << bestVersion.toString()
                                   << "— using internal:" << internalFile;
        return internalFile;
    }
    qCDebug(FirmwarePluginLog) << "Using cached parameter metadata" << bestVersion.toString() << ":" << bestFile;
    return bestFile;
}
 
void FirmwarePlugin::cacheParameterMetaDataFile(const QString &metaDataFile)
{
    const MAV_AUTOPILOT autopilot = _autopilotType();
    if (autopilot == MAV_AUTOPILOT_GENERIC) {
        return;
    }
 
    QString readError;
    const QByteArray data = QGCCompression::readFile(metaDataFile, &readError);
    if (data.isEmpty()) {
        qCWarning(FirmwarePluginLog) << "Cannot cache parameter metadata: failed to read" << metaDataFile << readError;
        return;
    }
 
    // Reject non-JSON content (e.g. XML from older PX4 firmware images)
    // and extract the catalog version in a single parse pass.
    bool validJson = false;
    QVersionNumber newVersion = ParameterMetaData::versionFromJsonData(data, &validJson);
    if (!validJson) {
        qCDebug(FirmwarePluginLog) << "Skipping cache of non-JSON parameter metadata:" << metaDataFile;
        return;
    }
    if (newVersion.isNull()) {
        // Valid JSON but no version stamps — use fallback so unversioned
        // files still get cached with a major version that matches the
        // default wantedMajorVersion in _cachedParameterMetaDataFile.
        newVersion = QVersionNumber(1, 0);
    }
 
    const int majorVersion = newVersion.majorVersion();
    const QDir cacheDir = _parameterMetaDataCacheDir(true);
 
    const QString wildcard = QStringLiteral("%1_%2.%3.*.json").arg(kCachedMetaDataFilePrefix).arg(autopilot).arg(majorVersion);
    const QStringList existing = cacheDir.entryList(QStringList(wildcard), QDir::Files);
 
    for (const QString &file : existing) {
        const QVersionNumber existingVersion = ParameterMetaData::versionFromFileName(file);
        // Strict less-than: equal versions are replaced so that
        // re-flashing with corrected metadata (same version stamp)
        // updates the cache.
        if (!existingVersion.isNull() && newVersion < existingVersion) {
            return;
        }
    }
 
    const QString cachePath = cacheDir.filePath(
        QStringLiteral("%1_%2.%3.%4.json").arg(kCachedMetaDataFilePrefix).arg(autopilot).arg(majorVersion).arg(newVersion.minorVersion()));
    if (!QGCFileHelper::atomicWrite(cachePath, data)) {
        qCWarning(FirmwarePluginLog) << "Failed to cache parameter metadata to" << cachePath;
        return;
    }
 
    for (const QString &file : existing) {
        const QString fullPath = cacheDir.filePath(file);
        if (fullPath != cachePath && !QFile::remove(fullPath)) {
            qCWarning(FirmwarePluginLog) << "Failed to remove old cache file:" << file;
        }
    }
}
 
/*===========================================================================*/
 
FirmwarePluginInstanceData::CommandSupportedResult FirmwarePluginInstanceData::getCommandSupported(MAV_CMD cmd) const
{
    if (anyVersionSupportsCommand(cmd) == CommandSupportedResult::UNSUPPORTED) {
        return CommandSupportedResult::UNSUPPORTED;
    }
 
    return MAV_CMD_supported.value(cmd, CommandSupportedResult::UNKNOWN);
}