pymavlink set_mode ack, wrong constant being used

[refeed]

On https://www.ardusub.com/developers/pymavlink.html

There's a part that explains how to wait for the ack:

while True:
    # Wait for ACK command
    ack_msg = master.recv_match(type='COMMAND_ACK', blocking=True)
    ack_msg = ack_msg.to_dict()

    # Check if command in the same in `set_mode`
    if ack_msg['command'] != mavutil.mavlink.MAVLINK_MSG_ID_SET_MODE:
        continue

    # Print the ACK result !
    print(mavutil.mavlink.enums['MAV_RESULT'][ack_msg['result']].description)
    break

But this constant: MAVLINK_MSG_ID_SET_MODE seemingly should be MAV_CMD_DO_SET_MODE ? Because when I ran the snippet above, it just stuck in that if statement ( if ack_msg['command'] != mavutil.mavlink.MAVLINK_MSG_ID_SET_MODE:)

I was using Ardupilot SITL btw, not the Ardusub one, but shouldn't they use the same constant?

[ES-Alexander]

But this constant: MAVLINK_MSG_ID_SET_MODE seemingly should be MAV_CMD_DO_SET_MODE ?

Yes, I believe that's correct. SET_MODE used to be a message but is now a command, and that example hasn't been updated to reflect that. There's a more up to date example here as part of a more complete program, although it requires Python >= 3.8.

[refeed]

I see, thanks for the explanation! In your example you used two constants

            # check if acknowledged MAV_CMD_DO_SET_MODE or SET_MODE (old)
            if ack_msg.command in (176, 11):

I just pushed a PR, should I update it to also put the two constants there?

[ES-Alexander]

I just pushed a PR, should I update it to also put the two constants there?

I included both at the time for compatibility, and because I wasn’t sure whether the message was used by any of the send options. Looking again the acknowledgement is using the command protocol, which presumably wasn’t used when it was just a ‘message’, so receiving the message ID there is likely impossible anyway.