Merge pull request #1780 from DonLakeFlyer/NoRC

Respect COM_RC_IN_MODE setting

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -273,11 +273,19 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
     if (_components.count() == 0 && !_incorrectParameterVersion) {
         Q_ASSERT(_uas);
         
+        if (pluginReady()) {
+            bool noRCTransmitter = false;
+            if (parameterExists(FactSystem::defaultComponentId, "COM_RC_IN_MODE")) {
+                Fact* rcFact = getParameterFact(FactSystem::defaultComponentId, "COM_RC_IN_MODE");
+                noRCTransmitter = rcFact->value().toInt() == 1;
+            }
+
             _airframeComponent = new AirframeComponent(_uas, this);
             Q_CHECK_PTR(_airframeComponent);
             _airframeComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
             
+            if (!noRCTransmitter) {
                 _radioComponent = new RadioComponent(_uas, this);
                 Q_CHECK_PTR(_radioComponent);
                 _radioComponent->setupTriggerSignals();
@@ -287,6 +295,7 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
                 Q_CHECK_PTR(_flightModesComponent);
                 _flightModesComponent->setupTriggerSignals();
                 _components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));
+            }
             
             _sensorsComponent = new SensorsComponent(_uas, this);
             Q_CHECK_PTR(_sensorsComponent);
@@ -302,6 +311,9 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
             Q_CHECK_PTR(_safetyComponent);
             _safetyComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent));
+        } else {
+            qWarning() << "Call to vehicleCompenents prior to pluginReady";
+        }
     }
     
     return _components;