From a9365f1db8063915c4a34498fac6897dba043224 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 19 Apr 2022 16:48:10 +1000
Subject: [PATCH] link: add option to suppress printing of ACKs from other
 systems

---
 MAVProxy/mavproxy.py              |  2 ++
 MAVProxy/modules/mavproxy_link.py | 37 +++++++++++++++++++++++++++----
 2 files changed, 35 insertions(+), 4 deletions(-)

diff --git a/MAVProxy/mavproxy.py b/MAVProxy/mavproxy.py
index fab768c50d..fbfe202f07 100755
--- a/MAVProxy/mavproxy.py
+++ b/MAVProxy/mavproxy.py
@@ -303,6 +303,8 @@ def __init__(self):
 
             MPSetting('vehicle_name', str, '', 'Vehicle Name', tab='Vehicle'),
 
+            MPSetting('all_vehicle_command_acks', bool, True, 'Show COMMAND_ACKs even if they are targetted at other vehicles'),
+
             MPSetting('sys_status_error_warn_interval', int, 30, 'interval to warn of autopilot software failure'),
 
             MPSetting('inhibit_screensaver_when_armed', bool, False, 'inhibit screensaver while vehicle armed'),
diff --git a/MAVProxy/modules/mavproxy_link.py b/MAVProxy/modules/mavproxy_link.py
index ecb4fc34ef..f73597c7e6 100644
--- a/MAVProxy/modules/mavproxy_link.py
+++ b/MAVProxy/modules/mavproxy_link.py
@@ -705,6 +705,37 @@ def heartbeat_is_from_autopilot(self, m):
             continue
         mav_type_planes.append(attr)
 
+    def should_show_command_ack(self, m):
+        '''returns true if we should display some text on the console for m'''
+        if m.target_component in [mavutil.mavlink.MAV_COMP_ID_MAVCAN]:
+            # too noisy?
+            return False
+
+        if m.command in frozenset([
+                mavutil.mavlink.MAV_CMD_GET_HOME_POSITION,
+                mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL
+        ]):
+            # too noisy?
+            return False
+
+        if self.settings.all_vehicle_command_acks:
+            # we're showing everything
+            return True
+
+        if m.target_system == 0:
+            return True
+
+        if m.target_system != self.settings.source_system:
+            return False
+
+        if m.target_component == 0:
+            return True
+
+        if m.target_component != self.settings.source_component:
+            return False
+
+        return True
+
     def master_msg_handling(self, m, master):
         '''link message handling for an upstream link'''
 
@@ -921,11 +952,9 @@ def accumulated_statustext(self):
                 cmd = cmd[8:]
                 res = mavutil.mavlink.enums["MAV_RESULT"][m.result].name
                 res = res[11:]
-                if (m.target_component not in [mavutil.mavlink.MAV_COMP_ID_MAVCAN] and
-                    m.command not in [mavutil.mavlink.MAV_CMD_GET_HOME_POSITION,
-                                      mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL]):
+                if self.should_show_command_ack(m):
                     self.mpstate.console.writeln("Got COMMAND_ACK: %s: %s" % (cmd, res))
-            except Exception:
+            except KeyError as e:
                 self.mpstate.console.writeln("Got MAVLink msg: %s" % m)
 
             if m.command == mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION: