Added support for Google Protocol Buffers.

qgroundcontrol.pri

@@ -179,6 +179,17 @@ message("Compiling for linux 32")
     DEFINES += QGC_OSG_ENABLED
     }
 
+    exists(/usr/local/include/google/protobuf) {
+    message("Building support for Protocol Buffers")
+    DEPENDENCIES_PRESENT += protobuf
+    # Include Protocol Buffers libraries
+    LIBS += -lprotobuf \
+            -lprotobuf-lite \
+            -lprotoc
+
+    DEFINES += QGC_PROTOBUF_ENABLED
+    }
+
     exists(/usr/local/include/libfreenect/libfreenect.h) {
     message("Building support for libfreenect")
     DEPENDENCIES_PRESENT += libfreenect
@@ -249,6 +260,17 @@ linux-g++-64 {
     DEFINES += QGC_OSG_ENABLED
     }
 
+    exists(/usr/local/include/google/protobuf) {
+    message("Building support for Protocol Buffers")
+    DEPENDENCIES_PRESENT += protobuf
+    # Include Protocol Buffers libraries
+    LIBS += -lprotobuf \
+            -lprotobuf-lite \
+            -lprotoc
+
+    DEFINES += QGC_PROTOBUF_ENABLED
+    }
+
     exists(/usr/local/include/libfreenect) {
     message("Building support for libfreenect")
     DEPENDENCIES_PRESENT += libfreenect

qgroundcontrol.pro

@@ -95,7 +95,7 @@ contains(MAVLINK_CONF, pixhawk) {
     # Remove the default set - it is included anyway
     INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
     INCLUDEPATH -= $$BASEDIR/thirdParty/mavlink/include/common
-    
+
     # PIXHAWK SPECIAL MESSAGES
     INCLUDEPATH += $$BASEDIR/../mavlink/include/pixhawk
     INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/pixhawk
@@ -372,6 +372,12 @@ contains(DEPENDENCIES_PRESENT, osg) {
         src/ui/map3D/HUDScaleGeode.h \
         src/ui/map3D/WaypointGroupNode.h
 }
+contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {
+    message("Including headers for Protocol Buffers")
+
+    # Enable only if protobuf is available
+    HEADERS += ../mavlink/include/pixhawk/pixhawk.pb.h
+}
 contains(DEPENDENCIES_PRESENT, libfreenect) { 
     message("Including headers for libfreenect")
     
@@ -501,6 +507,12 @@ contains(DEPENDENCIES_PRESENT, osg) {
         SOURCES += src/ui/map3D/QMap3D.cc
     }
 }
+contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {
+    message("Including sources for Protocol Buffers")
+
+    # Enable only if protobuf is available
+    SOURCES += ../mavlink/src/pixhawk/pixhawk.pb.cc
+}
 contains(DEPENDENCIES_PRESENT, libfreenect) { 
     message("Including sources for libfreenect")
     

src/comm/MAVLinkProtocol.cc

@@ -31,6 +31,10 @@
 #include "QGCMAVLinkUASFactory.h"
 #include "QGC.h"
 
+#ifdef QGC_PROTOBUF_ENABLED
+#include "mavlink_protobuf_manager.hpp"
+#endif
+
 /**
  * The default constructor will create a new MAVLink object sending heartbeats at
  * the MAVLINK_HEARTBEAT_DEFAULT_RATE to all connected links.
@@ -169,6 +173,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
 //    receiveMutex.lock();
     mavlink_message_t message;
     mavlink_status_t status;
+
     for (int position = 0; position < b.size(); position++) {
         unsigned int decodeState = mavlink_parse_char(link->getId(), (uint8_t)(b.at(position)), &message, &status);
 
@@ -181,6 +186,13 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
 //		    continue;
 //	    }
 //#endif
+#ifdef QGC_PROTOBUF_ENABLED
+            if (message.msgid == MAVLINK_MSG_ID_EXTENDED_MESSAGE)
+            {
+                mavlink::ProtobufManager::instance();
+            }
+#endif
+
             // Log data
             if (m_loggingEnabled && m_logfile) {
                 const int len = MAVLINK_MAX_PACKET_LEN+sizeof(quint64);