From 85d7f06e605fcb57cb6bce12ec1f14b5dbebe8ca Mon Sep 17 00:00:00 2001
From: Don Gagne <DonLakeFlyer@users.noreply.github.com>
Date: Mon, 14 Sep 2020 17:56:38 -0700
Subject: [PATCH] Fix composite USB detection (#9069)

Co-authored-by: Don Gagne <dongagne@outlook.com>
---
 QGCCommon.pri                      |  2 --
 src/Vehicle/MultiVehicleManager.cc |  2 +-
 src/comm/QGCSerialPortInfo.cc      | 21 +++++++++++++--------
 3 files changed, 14 insertions(+), 11 deletions(-)

diff --git a/QGCCommon.pri b/QGCCommon.pri
index d43957e25..024ec02ec 100644
--- a/QGCCommon.pri
+++ b/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
diff --git a/src/Vehicle/MultiVehicleManager.cc b/src/Vehicle/MultiVehicleManager.cc
index db36fe38f..48e057921 100644
--- a/src/Vehicle/MultiVehicleManager.cc
+++ b/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
diff --git a/src/comm/QGCSerialPortInfo.cc b/src/comm/QGCSerialPortInfo.cc
index b4fd03b67..94acb81f2 100644
--- a/src/comm/QGCSerialPortInfo.cc
+++ b/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);
         }
     }
-- 
2.22.0