Merge pull request #5362 from DonLakeFlyer/CreateVehicle

Create vehicles only for autopilot component

src/FactSystem/FactSystemTest.qml

@@ -32,7 +32,7 @@ FactPanel {
     TextInput {
         text:       fact2.value
 
-        property Fact fact2: controller.getParameterFact(200, "RC_MAP_THROTTLE")
+        property Fact fact2: controller.getParameterFact(1, "RC_MAP_THROTTLE")
 
         onAccepted: fact2.value = text
     }

src/FactSystem/FactSystemTestBase.cc

@@ -58,8 +58,8 @@ void FactSystemTestBase::_parameter_default_component_id_test(void)
 
 void FactSystemTestBase::_parameter_specific_component_id_test(void)
 {
-    QVERIFY(_vehicle->parameterManager()->parameterExists(200, "RC_MAP_THROTTLE"));
-    Fact* fact = _vehicle->parameterManager()->getParameter(200, "RC_MAP_THROTTLE");
+    QVERIFY(_vehicle->parameterManager()->parameterExists(MAV_COMP_ID_AUTOPILOT1, "RC_MAP_THROTTLE"));
+    Fact* fact = _vehicle->parameterManager()->getParameter(MAV_COMP_ID_AUTOPILOT1, "RC_MAP_THROTTLE");
     QVERIFY(fact != NULL);
     QVariant factValue = fact->rawValue();
     QCOMPARE(factValue.isValid(), true);

src/Vehicle/MultiVehicleManager.cc

@@ -74,6 +74,20 @@ void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
 
 void MultiVehicleManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int componentId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType)
 {
+    if (componentId != MAV_COMP_ID_AUTOPILOT1) {
+        // Don't create vehicles for components other than the autopilot
+        if (!getVehicleById(vehicleId)) {
+            qCDebug(MultiVehicleManagerLog()) << "Ignoring heartbeat from unknown component "
+                                              << link->getName()
+                                              << vehicleId
+                                              << componentId
+                                              << vehicleMavlinkVersion
+                                              << vehicleFirmwareType
+                                              << vehicleType;
+        }
+        return;
+    }
+
     if (_vehicles.count() > 0 && !qgcApp()->toolbox()->corePlugin()->options()->multiVehicleEnabled()) {
         return;
     }

src/comm/MockLink.cc

@@ -51,7 +51,7 @@ MockLink::MockLink(SharedLinkConfigurationPointer& config)
     , _connected(false)
     , _mavlinkChannel(0)
     , _vehicleSystemId(_nextVehicleSystemId++)
-    , _vehicleComponentId(200)
+    , _vehicleComponentId(MAV_COMP_ID_AUTOPILOT1)
     , _inNSH(false)
     , _mavlinkStarted(true)
     , _mavBaseMode(MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)