@@ -33,6 +33,7 @@ This file is part of the QGROUNDCONTROL project
#include <QDebug>
#include <QTime>
#include <QApplication>
#include <QMessageBox>
#include "MG.h"
#include "MAVLinkProtocol.h"
...
...
@@ -45,6 +46,7 @@ This file is part of the QGROUNDCONTROL project
#include "ArduPilotMegaMAV.h"
#include "configuration.h"
#include "LinkManager.h"
#include "MainWindow.h"
#include <QGCMAVLink.h>
#include "QGC.h"
...
...
@@ -141,8 +143,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
// of its existence, as it only then can send and receive
// it's first messages.
// FIXME Current debugging
// check if the UAS has the same id like this system
// Check if the UAS has the same id like this system
if(message.sysid==getSystemId())
{
qDebug()<<"WARNING\nWARNING\nWARNING\nWARNING\nWARNING\nWARNING\nWARNING\n\n RECEIVED MESSAGE FROM THIS SYSTEM WITH ID"<<message.msgid<<"FROM COMPONENT"<<message.compid;
...
...
@@ -155,7 +156,26 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
// Check if the UAS has a different protocol version
if(heartbeat.mavlink_version!=MAVLINK_VERSION)
{
// Bring up dialog to inform user
QMessageBoxmsgBox(MainWindow::instance());
msgBox.setIcon(QMessageBox::Critical);
msgBox.setText(tr("The MAVLink protocol version on the MAV and QGroundControl mismatch!"));
msgBox.setInformativeText(tr("It is unsafe to use different MAVLink versions. QGroundControl therefore refuses to connect to system %1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(message.sysid).arg(heartbeat.mavlink_version).arg(MAVLINK_VERSION));
