Merge pull request #7017 from DonLakeFlyer/ArdupilotStreams

ArduPilot: Don't starts streams from QGC side. Assume firmware side does the right thing

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -587,18 +587,6 @@ void APMFirmwarePlugin::_adjustCalibrationMessageSeverity(mavlink_message_t* mes
     mavlink_msg_statustext_encode_chan(message->sysid, message->compid, 0, message, &statusText);
 }
 
-void APMFirmwarePlugin::initializeStreamRates(Vehicle* vehicle)
-{
-    vehicle->requestDataStream(MAV_DATA_STREAM_RAW_SENSORS,     2);
-    vehicle->requestDataStream(MAV_DATA_STREAM_EXTENDED_STATUS, 2);
-    vehicle->requestDataStream(MAV_DATA_STREAM_RC_CHANNELS,     2);
-    vehicle->requestDataStream(MAV_DATA_STREAM_POSITION,        3);
-    vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA1,          10);
-    vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA2,          10);
-    vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA3,          3);
-}
-
-
 void APMFirmwarePlugin::initializeVehicle(Vehicle* vehicle)
 {
     vehicle->setFirmwarePluginInstanceData(new APMFirmwarePluginInstanceData);
@@ -634,9 +622,6 @@ void APMFirmwarePlugin::initializeVehicle(Vehicle* vehicle)
             // No version set
             break;
         }
-    } else {
-        // Streams are not started automatically on APM stack
-        initializeStreamRates(vehicle);
     }
 }
 

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -92,7 +92,6 @@ public:
     int                 manualControlReservedButtonCount(void) override;
     bool                adjustIncomingMavlinkMessage    (Vehicle* vehicle, mavlink_message_t* message) override;
     void                adjustOutgoingMavlinkMessage    (Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message) override;
-    virtual void        initializeStreamRates           (Vehicle* vehicle);
     void                initializeVehicle               (Vehicle* vehicle) override;
     bool                sendHomePositionToVehicle       (void) override;
     void                addMetaDataToFact               (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) override;

src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc

@@ -169,16 +169,6 @@ int ArduSubFirmwarePlugin::manualControlReservedButtonCount(void)
     return 0;
 }
 
-void ArduSubFirmwarePlugin::initializeStreamRates(Vehicle* vehicle) {
-    vehicle->requestDataStream(MAV_DATA_STREAM_RAW_SENSORS,     2);
-    vehicle->requestDataStream(MAV_DATA_STREAM_EXTENDED_STATUS, 2);
-    vehicle->requestDataStream(MAV_DATA_STREAM_RC_CHANNELS,     2);
-    vehicle->requestDataStream(MAV_DATA_STREAM_POSITION,        3);
-    vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA1,          20);
-    vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA2,          10);
-    vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA3,          3);
-}
-
 bool ArduSubFirmwarePlugin::isCapable(const Vehicle* vehicle, FirmwareCapabilities capabilities)
 {
     Q_UNUSED(vehicle);

src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h

@@ -115,8 +115,6 @@ public:
 
     int defaultJoystickTXMode(void) final { return 3; }
 
-    void initializeStreamRates(Vehicle* vehicle) override final;
-
     bool isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities) final;
 
     bool supportsThrottleModeCenterZero(void) final;