src/MissionManager/MissionController.cc

@@ -2592,7 +2592,7 @@ MissionController::SendToVehiclePreCheckState MissionController::sendToVehiclePr
     if (_managerVehicle->armed() && _managerVehicle->flightMode() == _managerVehicle->missionFlightMode()) {
         return SendToVehiclePreCheckStateActiveMission;
     }
-    if (_controllerVehicle->firmwareType() != _managerVehicle->firmwareType() || _controllerVehicle->vehicleType() != _managerVehicle->vehicleType()) {
+    if (_controllerVehicle->firmwareType() != _managerVehicle->firmwareType() || QGCMAVLink::vehicleClass(_controllerVehicle->vehicleType()) != QGCMAVLink::vehicleClass(_managerVehicle->vehicleType())) {
         return SendToVehiclePreCheckStateFirwmareVehicleMismatch;
     }
     return SendToVehiclePreCheckStateOk;

src/comm/QGCMAVLink.cc

@@ -61,6 +61,23 @@ bool QGCMAVLink::isVTOL(MAV_TYPE mavType)
     }
 }
 
+MAV_TYPE QGCMAVLink::vehicleClass(MAV_TYPE mavType)
+{
+    if (isFixedWing(mavType)) {
+        return MAV_TYPE_FIXED_WING;
+    } else if (isRover(mavType)) {
+        return MAV_TYPE_GROUND_ROVER;
+    } else if (isSub(mavType)) {
+        return MAV_TYPE_SUBMARINE;
+    } else if (isMultiRotor(mavType)) {
+        return MAV_TYPE_QUADROTOR;
+    } else if (isVTOL(mavType)) {
+        return MAV_TYPE_VTOL_QUADROTOR;
+    }
+
+    return MAV_TYPE_GENERIC;
+}
+
 QString  QGCMAVLink::mavResultToString(MAV_RESULT result)
 {
     switch (result) {

src/comm/QGCMAVLink.h

@@ -53,6 +53,7 @@ public:
     static bool     isSub               (MAV_TYPE mavType);
     static bool     isMultiRotor        (MAV_TYPE mavType);
     static bool     isVTOL              (MAV_TYPE mavType);
+    static MAV_TYPE vehicleClass        (MAV_TYPE mavType);
     static QString  mavResultToString   (MAV_RESULT result);
 };