From af1541789a51b742b92f03c21d6ffbc55eb64994 Mon Sep 17 00:00:00 2001
From: davidsastresas <davidsastresas@gmail.com>
Date: Tue, 9 Apr 2024 01:25:46 +0200
Subject: [PATCH] SendMavCommandWithSignallingTest.cc: ignore
 MAV_CMD_REQUEST_MESSAGE:

gimbal controller sends some message requests when receiving a
hearbeat, and the cmd results collide with this test, so we filter
out MAV_CMD_REQUEST_MESSAGE from gimbal controller
---
 src/Vehicle/SendMavCommandWithSignallingTest.cc | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/src/Vehicle/SendMavCommandWithSignallingTest.cc b/src/Vehicle/SendMavCommandWithSignallingTest.cc
index ff1c26ecd5f..e1b40a4057c 100644
--- a/src/Vehicle/SendMavCommandWithSignallingTest.cc
+++ b/src/Vehicle/SendMavCommandWithSignallingTest.cc
@@ -38,6 +38,16 @@ void SendMavCommandWithSignallingTest::_testCaseWorker(TestCase_t& testCase)
 
     QCOMPARE(spyResult.wait(10000), true);
     QList<QVariant> arguments = spyResult.takeFirst();
+
+    // Gimbal controler requests MAVLINK_MSG_ID_GIMBAL_MANAGER_INFORMATION on vehicle connection,
+    // and that messes with this test, as it receives response to that command instead. So if we 
+    // are taking the response to that MAV_CMD_REQUEST_MESSAGE, we discard it and take the next
+    while (arguments.at(2).toInt() == MAV_CMD_REQUEST_MESSAGE) {
+        qDebug() << "Received response to MAV_CMD_REQUEST_MESSAGE(512), ignoring, waiting for: " << testCase.command;
+        QCOMPARE(spyResult.wait(10000), true);
+        arguments = spyResult.takeFirst();
+    }
+    
     QCOMPARE(arguments.count(),                                             5);
     QCOMPARE(arguments.at(0).toInt(),                                       vehicle->id());
     QCOMPARE(arguments.at(1).toInt(),                                       MAV_COMP_ID_AUTOPILOT1);