Fix composite USB detection (#9069)

Co-authored-by: Don Gagne <dongagne@outlook.com>

QGCCommon.pri

@@ -113,8 +113,6 @@ linux {
         } else {
                 QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.6
         }
-        #-- Not forcing anything. Let qmake find the latest, installed SDK.
-        QMAKE_MAC_SDK = macosx10.15
         QMAKE_CXXFLAGS += -fvisibility=hidden
         QMAKE_CXXFLAGS_WARN_ON += -Werror \
             -Wno-unused-parameter           # gst-plugins-good

src/Vehicle/MultiVehicleManager.cc

@@ -81,7 +81,7 @@ void MultiVehicleManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicle
         // Special case for PX4 Flow
         if (vehicleId != 81 || componentId != 50) {
             // Don't create vehicles for components other than the autopilot
-            qCDebug(MultiVehicleManagerLog()) << "Ignoring heartbeat from unknown component "
+            qCDebug(MultiVehicleManagerLog()) << "Ignoring heartbeat from unknown component port:vehicleId:componentId:fwType:vehicleType"
                                               << link->getName()
                                               << vehicleId
                                               << componentId

src/comm/QGCSerialPortInfo.cc

@@ -294,17 +294,22 @@ QString QGCSerialPortInfo::_boardTypeToString(BoardType_t boardType)
 
 QList<QGCSerialPortInfo> QGCSerialPortInfo::availablePorts(void)
 {
-    QList<QGCSerialPortInfo>    list;
-    QStringList                 seenSerialNumbers;
+    typedef QPair<quint16, quint16> VidPidPair_t;
 
-    for(QSerialPortInfo portInfo: QSerialPortInfo::availablePorts()) {
+    QList<QGCSerialPortInfo>        list;
+    QMap<VidPidPair_t, QStringList> seenSerialNumbers;
+
+    for (QSerialPortInfo portInfo: QSerialPortInfo::availablePorts()) {
         if (!isSystemPort(&portInfo)) {
-            if (seenSerialNumbers.contains(portInfo.serialNumber())) {
-                // Some boards are a composite USB device, with the first port being mavlink and the second something else
-                qCDebug(QGCSerialPortInfoLog) << "Skipping secondary port on same device" << portInfo.portName() << portInfo.serialNumber();
-                continue;
+            if (portInfo.hasVendorIdentifier() && portInfo.hasProductIdentifier() && !portInfo.serialNumber().isEmpty() && portInfo.serialNumber() != "0") {
+                VidPidPair_t vidPid(portInfo.vendorIdentifier(), portInfo.productIdentifier());
+                if (seenSerialNumbers.contains(vidPid) && seenSerialNumbers[vidPid].contains(portInfo.serialNumber())) {
+                    // Some boards are a composite USB device, with the first port being mavlink and the second something else. We only expose to first mavlink port.
+                    qCDebug(QGCSerialPortInfoLog) << "Skipping secondary port on same device" << portInfo.portName() << portInfo.vendorIdentifier() << portInfo.productIdentifier() << portInfo.serialNumber();
+                    continue;
+                }
+                seenSerialNumbers[vidPid].append(portInfo.serialNumber());
             }
-            seenSerialNumbers.append(portInfo.serialNumber());
             list << *((QGCSerialPortInfo*)&portInfo);
         }
     }