Merge pull request #5906 from mavlink/disableAPMDialect

Allow disabling the Ardupilot MAVLink dialect 

QGCExternalLibs.pri

@@ -7,20 +7,35 @@ WindowsBuild {
 
 #
 # [REQUIRED] Add support for the MAVLink communications protocol.
-# Mavlink dialect is hardwired to arudpilotmega for now. The reason being
+#
+# By default MAVLink dialect is hardwired to arudpilotmega. The reason being
 # the current codebase supports both PX4 and APM flight stack. PX4 flight stack
-# only usese common mavlink specifications, whereas APM flight stack uses custom
-# mavlink specifications which add to common. So by using the adupilotmega dialect
+# only uses common MAVLink specifications, whereas APM flight stack uses custom
+# MAVLink specifications which adds to common. So by using the adupilotmega dialect
 # QGC can support both in the same codebase.
-#
+
 # Once the mavlink helper routines include support for multiple dialects within
 # a single compiled codebase this hardwiring of dialect can go away. But until then
 # this "workaround" is needed.
 
-MAVLINKPATH_REL = libs/mavlink/include/mavlink/v2.0
-MAVLINKPATH = $$BASEDIR/$$MAVLINKPATH_REL
-MAVLINK_CONF = ardupilotmega
-DEFINES += MAVLINK_NO_DATA
+# In the mean time, it’s possible to define a completely different dialect by defining the
+# location and name below.
+
+isEmpty(MAVLINKPATH_REL) {
+    MAVLINKPATH_REL = libs/mavlink/include/mavlink/v2.0
+}
+isEmpty(MAVLINKPATH) {
+    MAVLINKPATH     = $$BASEDIR/$$MAVLINKPATH_REL
+}
+isEmpty(MAVLINK_CONF) {
+    MAVLINK_CONF    = ardupilotmega
+}
+
+# If defined, all APM specific MAVLink messages are disabled
+contains (CONFIG, QGC_DISABLE_APM_MAVLINK) {
+    message("Disable APM MAVLink support")
+    DEFINES += NO_ARDUPILOT_DIALECT
+}
 
 # First we select the dialect, checking for valid user selection
 # Users can override all other settings by specifying MAVLINK_CONF as an argument to qmake

src/Vehicle/Vehicle.cc

@@ -674,9 +674,6 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     case MAVLINK_MSG_ID_SCALED_PRESSURE3:
         _handleScaledPressure3(message);
         break;        
-    case MAVLINK_MSG_ID_CAMERA_FEEDBACK:
-        _handleCameraFeedback(message);
-        break;
     case MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED:
         _handleCameraImageCaptured(message);
         break;
@@ -691,11 +688,16 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
         emit mavlinkSerialControl(ser.device, ser.flags, ser.timeout, ser.baudrate, QByteArray(reinterpret_cast<const char*>(ser.data), ser.count));
     }
         break;
-    // Following are ArduPilot dialect messages
 
+    // Following are ArduPilot dialect messages
+#if !defined(NO_ARDUPILOT_DIALECT)
+    case MAVLINK_MSG_ID_CAMERA_FEEDBACK:
+        _handleCameraFeedback(message);
+        break;
     case MAVLINK_MSG_ID_WIND:
         _handleWind(message);
         break;
+#endif
     }
 
     // This must be emitted after the vehicle processes the message. This way the vehicle state is up to date when anyone else
@@ -706,6 +708,7 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
 }
 
 
+#if !defined(NO_ARDUPILOT_DIALECT)
 void Vehicle::_handleCameraFeedback(const mavlink_message_t& message)
 {
     mavlink_camera_feedback_t feedback;
@@ -716,6 +719,7 @@ void Vehicle::_handleCameraFeedback(const mavlink_message_t& message)
     qCDebug(VehicleLog) << "_handleCameraFeedback coord:index" << imageCoordinate << feedback.img_idx;
     _cameraTriggerPoints.append(new QGCQGeoCoordinate(imageCoordinate, this));
 }
+#endif
 
 void Vehicle::_handleCameraImageCaptured(const mavlink_message_t& message)
 {
@@ -1014,6 +1018,7 @@ void Vehicle::_handleWindCov(mavlink_message_t& message)
     _windFactGroup.verticalSpeed()->setRawValue(0);
 }
 
+#if !defined(NO_ARDUPILOT_DIALECT)
 void Vehicle::_handleWind(mavlink_message_t& message)
 {
     mavlink_wind_t wind;
@@ -1023,6 +1028,7 @@ void Vehicle::_handleWind(mavlink_message_t& message)
     _windFactGroup.speed()->setRawValue(wind.speed);
     _windFactGroup.verticalSpeed()->setRawValue(wind.speed_z);
 }
+#endif
 
 void Vehicle::_handleSysStatus(mavlink_message_t& message)
 {

src/Vehicle/Vehicle.h

@@ -891,7 +891,6 @@ private:
     void _handleBatteryStatus(mavlink_message_t& message);
     void _handleSysStatus(mavlink_message_t& message);
     void _handleWindCov(mavlink_message_t& message);
-    void _handleWind(mavlink_message_t& message);
     void _handleVibration(mavlink_message_t& message);
     void _handleExtendedSysState(mavlink_message_t& message);
     void _handleCommandAck(mavlink_message_t& message);
@@ -906,7 +905,11 @@ private:
     void _handleScaledPressure(mavlink_message_t& message);
     void _handleScaledPressure2(mavlink_message_t& message);
     void _handleScaledPressure3(mavlink_message_t& message);
+    // ArduPilot dialect messages
+#if !defined(NO_ARDUPILOT_DIALECT)
     void _handleCameraFeedback(const mavlink_message_t& message);
+    void _handleWind(mavlink_message_t& message);
+#endif
     void _handleCameraImageCaptured(const mavlink_message_t& message);
     void _handleADSBVehicle(const mavlink_message_t& message);
     void _missionManagerError(int errorCode, const QString& errorMsg);

src/comm/MockLink.cc

@@ -883,18 +883,21 @@ void MockLink::_respondWithAutopilotVersion(void)
 
     uint8_t customVersion[8] = { };
     uint32_t flightVersion = 0;
+#if !defined(NO_ARDUPILOT_DIALECT)
     if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
         flightVersion |= 3 << (8*3);
         flightVersion |= 5 << (8*2);
         flightVersion |= 0 << (8*1);
         flightVersion |= FIRMWARE_VERSION_TYPE_DEV << (8*0);
     } else if (_firmwareType == MAV_AUTOPILOT_PX4) {
+#endif
         flightVersion |= 1 << (8*3);
         flightVersion |= 4 << (8*2);
         flightVersion |= 1 << (8*1);
         flightVersion |= FIRMWARE_VERSION_TYPE_DEV << (8*0);
+#if !defined(NO_ARDUPILOT_DIALECT)
     }
-
+#endif
     mavlink_msg_autopilot_version_pack_chan(_vehicleSystemId,
                                             _vehicleComponentId,
                                             _mavlinkChannel,
@@ -909,7 +912,12 @@ void MockLink::_respondWithAutopilotVersion(void)
                                             (uint8_t *)&customVersion,       // os_custom_version,
                                             0,                               // vendor_id,
                                             0,                               // product_id,
-                                            0);                              // uid
+                                            0                                // uid
+#if defined(NO_ARDUPILOT_DIALECT)
+                                            //-- Once the MAVLink module is updated, this should show up. In the mean time, it's disabled.
+                                            ,0                               // uid2
+#endif
+                                            );
     respondWithMavlinkMessage(msg);
 }