Pass in autopilot type

src/comm/MAVLinkProtocol.cc

@@ -391,7 +391,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                 }
 
                 // Create a new UAS object
-                uas = QGCMAVLinkUASFactory::createUAS(this, link, message.sysid, &heartbeat);
+                uas = QGCMAVLinkUASFactory::createUAS(this, link, message.sysid, (MAV_AUTOPILOT)heartbeat.autopilot);
 
             }
 

src/uas/QGCMAVLinkUASFactory.cc

@@ -6,26 +6,13 @@ QGCMAVLinkUASFactory::QGCMAVLinkUASFactory(QObject *parent) :
 {
 }
 
-UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInterface* link, int sysid, mavlink_heartbeat_t* heartbeat, QObject* parent)
+UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInterface* link, int sysid, MAV_AUTOPILOT autopilotType)
 {
-    QPointer<QObject> p;
-
-    if (parent != NULL)
-    {
-        p = parent;
-    }
-    else
-    {
-        p = mavlink;
-    }
-
     UASInterface* uasInterface;
 
-    UAS* uasObject = new UAS(mavlink, sysid);
+    UAS* uasObject = new UAS(mavlink, sysid, autopilotType);
     Q_CHECK_PTR(uasObject);
     uasInterface = uasObject;
-    
-    uasObject->setSystemType((int)heartbeat->type);
 
     // Connect this robot to the UAS object
     // It is IMPORTANT here to use the right object type,
@@ -33,9 +20,6 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
     // packets never reach their goal)
     connect(mavlink, &MAVLinkProtocol::messageReceived, uasObject, &UAS::receiveMessage);
 
-    // Set the autopilot type
-    uasInterface->setAutopilotType((int)heartbeat->autopilot);
-
     // Make UAS aware that this link can be used to communicate with the actual robot
     uasInterface->addLink(link);
 

src/uas/QGCMAVLinkUASFactory.h

@@ -18,7 +18,7 @@ public:
     explicit QGCMAVLinkUASFactory(QObject *parent = 0);
 
     /** @brief Create a new UAS object using MAVLink as protocol */
-    static UASInterface* createUAS(MAVLinkProtocol* mavlink, LinkInterface* link, int sysid, mavlink_heartbeat_t* heartbeat, QObject* parent=NULL);
+    static UASInterface* createUAS(MAVLinkProtocol* mavlink, LinkInterface* link, int sysid, MAV_AUTOPILOT autopilotType);
 
 signals: