Drop high rate PreArm messages

Also filter solo version string

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -32,6 +32,7 @@
 QGC_LOGGING_CATEGORY(APMFirmwarePluginLog, "APMFirmwarePluginLog")
 
 static const QRegExp APM_COPTER_REXP("^(ArduCopter|APM:Copter)");
+static const QRegExp APM_SOLO_REXP("^(APM:Copter solo-)");
 static const QRegExp APM_PLANE_REXP("^(ArduPlane|APM:Plane)");
 static const QRegExp APM_ROVER_REXP("^(ArduRover|APM:Rover)");
 static const QRegExp APM_PX4NUTTX_REXP("^PX4: .*NuttX: .*");
@@ -43,6 +44,7 @@ static const QRegExp VERSION_REXP("^(APM:Copter|APM:Plane|APM:Rover|ArduCopter|A
 
 // minimum firmware versions that don't suffer from mavlink severity inversion bug.
 // https://github.com/diydrones/apm_planner/issues/788
+static const QString MIN_SOLO_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Copter solo-1.2.0");
 static const QString MIN_COPTER_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Copter V3.4.0");
 static const QString MIN_PLANE_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Plane V3.4.0");
 static const QString MIN_ROVER_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Rover V2.6.0");
@@ -300,7 +302,7 @@ void APMFirmwarePlugin::_handleParamSet(Vehicle* vehicle, mavlink_message_t* mes
     mavlink_msg_param_set_encode(message->sysid, message->compid, message, &paramSet);
 }
 
-void APMFirmwarePlugin::_handleStatusText(Vehicle* vehicle, mavlink_message_t* message)
+bool APMFirmwarePlugin::_handleStatusText(Vehicle* vehicle, mavlink_message_t* message)
 {
     QString messageText;
 
@@ -311,7 +313,7 @@ void APMFirmwarePlugin::_handleStatusText(Vehicle* vehicle, mavlink_message_t* m
         messageText = _getMessageText(message);
         qCDebug(APMFirmwarePluginLog) << messageText;
 
-        if (!_firmwareVersion.isValid()) {
+        if (!_firmwareVersion.isValid() && !messageText.contains(APM_SOLO_REXP)) {
             // if don't know firmwareVersion yet, try and see if this message contains it
             if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP)) {
                 // found version string
@@ -355,7 +357,7 @@ void APMFirmwarePlugin::_handleStatusText(Vehicle* vehicle, mavlink_message_t* m
 
         if (messageText.contains("Place vehicle") || messageText.contains("Calibration successful")) {
             _adjustCalibrationMessageSeverity(message);
-            return;
+            return true;
         }
     }
 
@@ -370,10 +372,21 @@ void APMFirmwarePlugin::_handleStatusText(Vehicle* vehicle, mavlink_message_t* m
 
     // The following messages are incorrectly labeled as warning message.
     // Fixed in newer firmware (unreleased at this point), but still in older firmware.
-    if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP) ||
+    if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_SOLO_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP) ||
             messageText.contains(APM_PX4NUTTX_REXP) || messageText.contains(APM_FRAME_REXP) || messageText.contains(APM_SYSID_REXP)) {
         _setInfoSeverity(message);
     }
+
+    // ArduPilot PreArm messages can come across very frequently especially on Solo, which seems to send them once a second.
+    // Filter them out if they come too quickly.
+    if (messageText.startsWith("PreArm")) {
+        if (_noisyPrearmMap.contains(messageText) && _noisyPrearmMap[messageText].msecsTo(QTime::currentTime()) < (10 * 1000)) {
+            return false;
+        }
+        _noisyPrearmMap[messageText] = QTime::currentTime();
+    }
+
+    return true;
 }
 
 void APMFirmwarePlugin::_handleHeartbeat(Vehicle* vehicle, mavlink_message_t* message)
@@ -396,11 +409,11 @@ void APMFirmwarePlugin::_handleHeartbeat(Vehicle* vehicle, mavlink_message_t* me
     vehicle->setFlying(flying);
 }
 
-void APMFirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message)
+bool APMFirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message)
 {
     //-- Don't process messages to/from UDP Bridge. It doesn't suffer from these issues
     if (message->compid == MAV_COMP_ID_UDP_BRIDGE) {
-        return;
+        return true;
     }
 
     switch (message->msgid) {
@@ -408,12 +421,13 @@ void APMFirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_m
         _handleParamValue(vehicle, message);
         break;
     case MAVLINK_MSG_ID_STATUSTEXT:
-        _handleStatusText(vehicle, message);
-        break;
+        return _handleStatusText(vehicle, message);
     case MAVLINK_MSG_ID_HEARTBEAT:
         _handleHeartbeat(vehicle, message);
         break;
     }
+
+    return true;
 }
 
 void APMFirmwarePlugin::adjustOutgoingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message)

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -91,7 +91,7 @@ public:
     bool        isGuidedMode(const Vehicle* vehicle) const final;
     void        pauseVehicle(Vehicle* vehicle);
     int         manualControlReservedButtonCount(void) final;
-    void        adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message) final;
+    bool        adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message) final;
     void        adjustOutgoingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message) final;
     void        initializeVehicle(Vehicle* vehicle) final;
     bool        sendHomePositionToVehicle(void) final;
@@ -116,12 +116,13 @@ private:
     QString _getMessageText(mavlink_message_t* message) const;
     void _handleParamValue(Vehicle* vehicle, mavlink_message_t* message);
     void _handleParamSet(Vehicle* vehicle, mavlink_message_t* message);
-    void _handleStatusText(Vehicle* vehicle, mavlink_message_t* message);
+    bool _handleStatusText(Vehicle* vehicle, mavlink_message_t* message);
     void _handleHeartbeat(Vehicle* vehicle, mavlink_message_t* message);
 
     APMFirmwareVersion      _firmwareVersion;
     bool                    _textSeverityAdjustmentNeeded;
     QList<APMCustomMode>    _supportedModes;
+    QMap<QString, QTime>    _noisyPrearmMap;
 };
 
 #endif