From cf2a8821990be02eb92c850a9d2cd3d0d0e7de16 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 27 Oct 2022 14:14:57 +1100
Subject: [PATCH] use MAV_CMD_REQUEST_MESSAGE to get AUTOPILOT_VERSION

---
 ExtLibs/ArduPilot/Mavlink/MAVLinkInterface.cs | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/ExtLibs/ArduPilot/Mavlink/MAVLinkInterface.cs b/ExtLibs/ArduPilot/Mavlink/MAVLinkInterface.cs
index acd41ad5ff..1095512d55 100644
--- a/ExtLibs/ArduPilot/Mavlink/MAVLinkInterface.cs
+++ b/ExtLibs/ArduPilot/Mavlink/MAVLinkInterface.cs
@@ -5667,10 +5667,15 @@ public async Task<bool> getVersionAsync(byte sysid, byte compid, bool responcere
             req.target_component = compid;
             req.target_system = sysid;
 
-            // use both methods
+            // use *all three* methods
+            doCommand(MAVLink.MAV_CMD.REQUEST_MESSAGE,
+                (float)MAVLink.MAVLINK_MSG_ID.AUTOPILOT_VERSION,
+                0, 0, 0, 0, 0, 0, false);
+
+	    // MAV_CMD.REQUEST_AUTOPILOT_CAPABILITIES is deprecated
             doCommand(MAV_CMD.REQUEST_AUTOPILOT_CAPABILITIES, 0, 0, 0, 0, 0, 0, 0, false);
 
-            // request point
+	    // AUTOPILOT_VERSION_REQUEST is deprecated
             generatePacket((byte) MAVLINK_MSG_ID.AUTOPILOT_VERSION_REQUEST, req);
 
             if (!responcerequired)