Special scale handling of PX4 Flow connect

src/Vehicle/MultiVehicleManager.cc

@@ -75,8 +75,9 @@ void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
 void MultiVehicleManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int componentId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType)
 {
     if (componentId != MAV_COMP_ID_AUTOPILOT1) {
+        // Special case for PX4 Flow
+        if (vehicleId != 81 || componentId != 50) {
             // Don't create vehicles for components other than the autopilot
-        if (!getVehicleById(vehicleId)) {
             qCDebug(MultiVehicleManagerLog()) << "Ignoring heartbeat from unknown component "
                                               << link->getName()
                                               << vehicleId
@@ -84,9 +85,9 @@ void MultiVehicleManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicle
                                               << vehicleMavlinkVersion
                                               << vehicleFirmwareType
                                               << vehicleType;
-        }
             return;
         }
+    }
 
     if (_vehicles.count() > 0 && !qgcApp()->toolbox()->corePlugin()->options()->multiVehicleEnabled()) {
         return;
@@ -119,15 +120,15 @@ void MultiVehicleManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicle
         _app->showMessage(tr("Warning: A vehicle is using the same system id as %1: %2").arg(qgcApp()->applicationName()).arg(vehicleId));
     }
 
-//    QSettings settings;
-//    bool mavlinkVersionCheck = settings.value("VERSION_CHECK_ENABLED", true).toBool();
-//    if (mavlinkVersionCheck && vehicleMavlinkVersion != MAVLINK_VERSION) {
-//        _ignoreVehicleIds += vehicleId;
-//        _app->showMessage(QString("The MAVLink protocol version on vehicle #%1 and %2 differ! "
-//                                  "It is unsafe to use different MAVLink versions. "
-//                                  "%2 therefore refuses to connect to vehicle #%1, which sends MAVLink version %3 (%2 uses version %4).").arg(vehicleId).arg(qgcApp()->applicationName()).arg(vehicleMavlinkVersion).arg(MAVLINK_VERSION));
-//        return;
-//    }
+    //    QSettings settings;
+    //    bool mavlinkVersionCheck = settings.value("VERSION_CHECK_ENABLED", true).toBool();
+    //    if (mavlinkVersionCheck && vehicleMavlinkVersion != MAVLINK_VERSION) {
+    //        _ignoreVehicleIds += vehicleId;
+    //        _app->showMessage(QString("The MAVLink protocol version on vehicle #%1 and %2 differ! "
+    //                                  "It is unsafe to use different MAVLink versions. "
+    //                                  "%2 therefore refuses to connect to vehicle #%1, which sends MAVLink version %3 (%2 uses version %4).").arg(vehicleId).arg(qgcApp()->applicationName()).arg(vehicleMavlinkVersion).arg(MAVLINK_VERSION));
+    //        return;
+    //    }
 
     Vehicle* vehicle = new Vehicle(link, vehicleId, componentId, (MAV_AUTOPILOT)vehicleFirmwareType, (MAV_TYPE)vehicleType, _firmwarePluginManager, _joystickManager);
     connect(vehicle, &Vehicle::allLinksInactive, this, &MultiVehicleManager::_deleteVehiclePhase1);