Merge pull request #5764 from DonLakeFlyer/ArduPlaneVTOL

ArduPlane VTOL indication comes from HEARBEAT

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -162,9 +162,7 @@ bool APMFirmwarePlugin::isCapable(const Vehicle* vehicle, FirmwareCapabilities c
     uint32_t available = SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability;
     if (vehicle->multiRotor()) {
         available |= TakeoffVehicleCapability;
-    } else if (vehicle->fixedWing() || vehicle->vtol()) {
-        // Due to the way ArduPilot marks a vtol aircraft, we don't know if something is a vtol at initial connection.
-        // So we always enabled takeoff for fixed wing.
+    } else if (vehicle->vtol()) {
         available |= TakeoffVehicleCapability;
     }
 
@@ -887,18 +885,6 @@ void APMFirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
     vehicle->sendMessageOnLink(vehicle->priorityLink(), msg);
 }
 
-bool APMFirmwarePlugin::isVtol(const Vehicle* vehicle) const
-{
-    if (vehicle->fixedWing()) {
-        if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("Q_ENABLE")) &&
-            vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("Q_ENABLE"))->rawValue().toBool()) {
-            return true;
-        }
-    }
-
-    return false;
-}
-
 void APMFirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle)
 {
     _guidedModeTakeoff(vehicle);

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -74,7 +74,6 @@ public:
     QList<MAV_CMD> supportedMissionCommands(void) override;
 
     AutoPilotPlugin*    autopilotPlugin                 (Vehicle* vehicle) override;
-    bool                isVtol                          (const Vehicle* vehicle) const override;
     bool                isCapable                       (const Vehicle *vehicle, FirmwareCapabilities capabilities) override;
     void                setGuidedMode                   (Vehicle* vehicle, bool guidedMode) override;
     void                guidedModeTakeoff               (Vehicle* vehicle) override;

src/FirmwarePlugin/APM/APMParameterMetaData.cc

@@ -83,6 +83,13 @@ QString APMParameterMetaData::mavTypeToString(MAV_TYPE vehicleTypeEnum)
 
     switch(vehicleTypeEnum) {
         case MAV_TYPE_FIXED_WING:
+        case MAV_TYPE_VTOL_DUOROTOR:
+        case MAV_TYPE_VTOL_QUADROTOR:
+        case MAV_TYPE_VTOL_TILTROTOR:
+        case MAV_TYPE_VTOL_RESERVED2:
+        case MAV_TYPE_VTOL_RESERVED3:
+        case MAV_TYPE_VTOL_RESERVED4:
+        case MAV_TYPE_VTOL_RESERVED5:
             vehicleName = "ArduPlane";
             break;
         case MAV_TYPE_QUADROTOR:
@@ -111,13 +118,6 @@ QString APMParameterMetaData::mavTypeToString(MAV_TYPE vehicleTypeEnum)
         case MAV_TYPE_FLAPPING_WING:
         case MAV_TYPE_KITE:
         case MAV_TYPE_ONBOARD_CONTROLLER:
-        case MAV_TYPE_VTOL_DUOROTOR:
-        case MAV_TYPE_VTOL_QUADROTOR:
-        case MAV_TYPE_VTOL_TILTROTOR:
-        case MAV_TYPE_VTOL_RESERVED2:
-        case MAV_TYPE_VTOL_RESERVED3:
-        case MAV_TYPE_VTOL_RESERVED4:
-        case MAV_TYPE_VTOL_RESERVED5:
         case MAV_TYPE_GIMBAL:
         case MAV_TYPE_ENUM_END:
         default: