Merge pull request #4096 from DonLakeFlyer/Mav2Prep

Must use pack_chan and encode_chan due to mav 2.0 problem

src/AutoPilotPlugins/APM/APMSensorsComponentController.cc

@@ -468,9 +468,13 @@ void APMSensorsComponentController::nextClicked(void)
 
     ack.command = 0;
     ack.result = 1;
-    mavlink_msg_command_ack_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &msg, &ack);
+    mavlink_msg_command_ack_encode_chan(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
+                                        qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
+                                        _vehicle->priorityLink()->mavlinkChannel(),
+                                        &msg,
+                                        &ack);
 
-    _vehicle->sendMessageOnPriorityLink(msg);
+    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 
     if (_compassMotCalInProgress) {
         _stopCalibration(StopCalibrationSuccess);

src/AutoPilotPlugins/Common/ESP8266ComponentController.cc

@@ -318,9 +318,11 @@ void
 ESP8266ComponentController::_reboot()
 {
     mavlink_message_t msg;
-    mavlink_msg_command_long_pack(
+
+    mavlink_msg_command_long_pack_chan(
         qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
         qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
+        _vehicle->priorityLink()->mavlinkChannel(),
         &msg,
         _vehicle->id(),
         MAV_COMP_ID_UDP_BRIDGE,
@@ -339,9 +341,10 @@ void
 ESP8266ComponentController::_restoreDefaults()
 {
     mavlink_message_t msg;
-    mavlink_msg_command_long_pack(
+    mavlink_msg_command_long_pack_chan(
         qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
         qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
+        _vehicle->priorityLink()->mavlinkChannel(),
         &msg,
         _vehicle->id(),
         MAV_COMP_ID_UDP_BRIDGE,

src/FactSystem/ParameterManager.cc

@@ -395,7 +395,12 @@ void ParameterManager::refreshAllParameters(uint8_t componentID)
     Q_ASSERT(mavlink);
 
     mavlink_message_t msg;
-    mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, _vehicle->id(), componentID);
+    mavlink_msg_param_request_list_pack_chan(mavlink->getSystemId(),
+                                             mavlink->getComponentId(),
+                                             _vehicle->priorityLink()->mavlinkChannel(),
+                                             &msg,
+                                             _vehicle->id(),
+                                             componentID);
     _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 
     QString what = (componentID == MAV_COMP_ID_ALL) ? "MAV_COMP_ID_ALL" : QString::number(componentID);
@@ -618,13 +623,14 @@ void ParameterManager::_readParameterRaw(int componentId, const QString& paramNa
     char fixedParamName[MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN];
 
     strncpy(fixedParamName, paramName.toStdString().c_str(), sizeof(fixedParamName));
-    mavlink_msg_param_request_read_pack(_mavlink->getSystemId(),    // Our system id
-                                        _mavlink->getComponentId(), // Our component id
-                                        &msg,                       // Pack into this mavlink_message_t
-                                        _vehicle->id(),             // Target system id
-                                        componentId,                // Target component id
-                                        fixedParamName,             // Named parameter being requested
-                                        paramIndex);                // Parameter index being requested, -1 for named
+    mavlink_msg_param_request_read_pack_chan(_mavlink->getSystemId(),   // QGC system id
+                                             _mavlink->getComponentId(),     // QGC component id
+                                             _vehicle->priorityLink()->mavlinkChannel(),
+                                             &msg,                           // Pack into this mavlink_message_t
+                                             _vehicle->id(),                 // Target system id
+                                             componentId,                    // Target component id
+                                             fixedParamName,                 // Named parameter being requested
+                                             paramIndex);                    // Parameter index being requested, -1 for named
     _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 }
 
@@ -677,7 +683,11 @@ void ParameterManager::_writeParameterRaw(int componentId, const QString& paramN
     strncpy(p.param_id, paramName.toStdString().c_str(), sizeof(p.param_id));
 
     mavlink_message_t msg;
-    mavlink_msg_param_set_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &p);
+    mavlink_msg_param_set_encode_chan(_mavlink->getSystemId(),
+                                      _mavlink->getComponentId(),
+                                      _vehicle->priorityLink()->mavlinkChannel(),
+                                      &msg,
+                                      &p);
     _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 }
 
@@ -756,7 +766,11 @@ void ParameterManager::_tryCacheHashLoad(int vehicleId, int componentId, QVarian
         p.target_system = (uint8_t)_vehicle->id();
         p.target_component = (uint8_t)componentId;
         mavlink_message_t msg;
-        mavlink_msg_param_set_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &p);
+        mavlink_msg_param_set_encode_chan(_mavlink->getSystemId(),
+                                          _mavlink->getComponentId(),
+                                          _vehicle->priorityLink()->mavlinkChannel(),
+                                          &msg,
+                                          &p);
         _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 
         // Give the user some feedback things loaded properly
@@ -787,7 +801,13 @@ void ParameterManager::_saveToEEPROM(void)
         _saveRequired = false;
         if (_vehicle->firmwarePlugin()->isCapable(_vehicle, FirmwarePlugin::MavCmdPreflightStorageCapability)) {
             mavlink_message_t msg;
-            mavlink_msg_command_long_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, _vehicle->id(), 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1, 0, 0, 0);
+            mavlink_msg_command_long_pack_chan(_mavlink->getSystemId(),
+                                               _mavlink->getComponentId(),
+                                               _vehicle->priorityLink()->mavlinkChannel(),
+                                               &msg,
+                                               _vehicle->id(),
+                                               0,
+                                               MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1, 0, 0, 0);
             _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
             qCDebug(ParameterManagerLog) << "_saveToEEPROM";
         } else {
@@ -1409,17 +1429,18 @@ void ParameterManager::resetAllParametersToDefaults(void)
     mavlink_message_t msg;
     MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
 
-    mavlink_msg_command_long_pack(mavlink->getSystemId(),
-                                  mavlink->getComponentId(),
-                                  &msg,
-                                  _vehicle->id(),                   // Target systeem
-                                  _vehicle->defaultComponentId(),   // Target component
-                                  MAV_CMD_PREFLIGHT_STORAGE,
-                                  0,                                // Confirmation
-                                  2,                                // 2 = Reset params to default
-                                  -1,                               // -1 = No change to mission storage
-                                  0,                                // 0 = Ignore
-                                  0, 0, 0, 0);                      // Unused
-    _vehicle->sendMessageOnPriorityLink(msg);
+    mavlink_msg_command_long_pack_chan(mavlink->getSystemId(),
+                                       mavlink->getComponentId(),
+                                       _vehicle->priorityLink()->mavlinkChannel(),
+                                       &msg,
+                                       _vehicle->id(),                   // Target systeem
+                                       _vehicle->defaultComponentId(),   // Target component
+                                       MAV_CMD_PREFLIGHT_STORAGE,
+                                       0,                                // Confirmation
+                                       2,                                // 2 = Reset params to default
+                                       -1,                               // -1 = No change to mission storage
+                                       0,                                // 0 = Ignore
+                                       0, 0, 0, 0);                      // Unused
+    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 }
 

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -211,7 +211,7 @@ int APMFirmwarePlugin::manualControlReservedButtonCount(void)
     return -1;
 }
 
-void APMFirmwarePlugin::_handleParamValue(Vehicle* vehicle, mavlink_message_t* message)
+void APMFirmwarePlugin::_handleIncomingParamValue(Vehicle* vehicle, mavlink_message_t* message)
 {
     Q_UNUSED(vehicle);
 
@@ -251,10 +251,14 @@ void APMFirmwarePlugin::_handleParamValue(Vehicle* vehicle, mavlink_message_t* m
 
     paramValue.param_value = paramUnion.param_float;
 
-    mavlink_msg_param_value_encode(message->sysid, message->compid, message, &paramValue);
+    mavlink_msg_param_value_encode_chan(message->sysid,
+                                        message->compid,
+                                        vehicle->priorityLink()->mavlinkChannel(),
+                                        message,
+                                        &paramValue);
 }
 
-void APMFirmwarePlugin::_handleParamSet(Vehicle* vehicle, mavlink_message_t* message)
+void APMFirmwarePlugin::_handleOutgoingParamSet(Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message)
 {
     Q_UNUSED(vehicle);
 
@@ -294,10 +298,10 @@ void APMFirmwarePlugin::_handleParamSet(Vehicle* vehicle, mavlink_message_t* mes
         qCCritical(APMFirmwarePluginLog) << "Invalid/Unsupported data type used in parameter:" << paramSet.param_type;
     }
 
-    mavlink_msg_param_set_encode(message->sysid, message->compid, message, &paramSet);
+    mavlink_msg_param_set_encode_chan(message->sysid, message->compid, outgoingLink->mavlinkChannel(), message, &paramSet);
 }
 
-bool APMFirmwarePlugin::_handleStatusText(Vehicle* vehicle, mavlink_message_t* message)
+bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* vehicle, mavlink_message_t* message)
 {
     QString messageText;
 
@@ -406,7 +410,7 @@ bool APMFirmwarePlugin::_handleStatusText(Vehicle* vehicle, mavlink_message_t* m
     return true;
 }
 
-void APMFirmwarePlugin::_handleHeartbeat(Vehicle* vehicle, mavlink_message_t* message)
+void APMFirmwarePlugin::_handleIncomingHeartbeat(Vehicle* vehicle, mavlink_message_t* message)
 {
     bool flying = false;
 
@@ -435,19 +439,19 @@ bool APMFirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_m
 
     switch (message->msgid) {
     case MAVLINK_MSG_ID_PARAM_VALUE:
-        _handleParamValue(vehicle, message);
+        _handleIncomingParamValue(vehicle, message);
         break;
     case MAVLINK_MSG_ID_STATUSTEXT:
-        return _handleStatusText(vehicle, message);
+        return _handleIncomingStatusText(vehicle, message);
     case MAVLINK_MSG_ID_HEARTBEAT:
-        _handleHeartbeat(vehicle, message);
+        _handleIncomingHeartbeat(vehicle, message);
         break;
     }
 
     return true;
 }
 
-void APMFirmwarePlugin::adjustOutgoingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message)
+void APMFirmwarePlugin::adjustOutgoingMavlinkMessage(Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message)
 {
     //-- Don't process messages to/from UDP Bridge. It doesn't suffer from these issues
     if (message->compid == MAV_COMP_ID_UDP_BRIDGE) {
@@ -456,7 +460,7 @@ void APMFirmwarePlugin::adjustOutgoingMavlinkMessage(Vehicle* vehicle, mavlink_m
 
     switch (message->msgid) {
     case MAVLINK_MSG_ID_PARAM_SET:
-        _handleParamSet(vehicle, message);
+        _handleOutgoingParamSet(vehicle, outgoingLink, message);
         break;
     }
 }
@@ -518,7 +522,10 @@ void APMFirmwarePlugin::_adjustSeverity(mavlink_message_t* message) const
         break;
     }
 
-    mavlink_msg_statustext_encode(message->sysid, message->compid, message, &statusText);
+    mavlink_msg_statustext_encode(message->sysid,
+                                  message->compid,
+                                  message,
+                                  &statusText);
 }
 
 void APMFirmwarePlugin::_setInfoSeverity(mavlink_message_t* message) const
@@ -527,7 +534,10 @@ void APMFirmwarePlugin::_setInfoSeverity(mavlink_message_t* message) const
     mavlink_msg_statustext_decode(message, &statusText);
 
     statusText.severity = MAV_SEVERITY_INFO;
-    mavlink_msg_statustext_encode(message->sysid, message->compid, message, &statusText);
+    mavlink_msg_statustext_encode(message->sysid,
+                                  message->compid,
+                                  message,
+                                  &statusText);
 }
 
 void APMFirmwarePlugin::_adjustCalibrationMessageSeverity(mavlink_message_t* message) const

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -83,7 +83,7 @@ public:
     void                pauseVehicle                    (Vehicle* vehicle);
     int                 manualControlReservedButtonCount(void);
     bool                adjustIncomingMavlinkMessage    (Vehicle* vehicle, mavlink_message_t* message) final;
-    void                adjustOutgoingMavlinkMessage    (Vehicle* vehicle, mavlink_message_t* message) final;
+    void                adjustOutgoingMavlinkMessage    (Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message) final;
     void                initializeVehicle               (Vehicle* vehicle) final;
     bool                sendHomePositionToVehicle       (void) final;
     void                addMetaDataToFact               (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final;
@@ -114,10 +114,10 @@ private:
     static bool _isTextSeverityAdjustmentNeeded(const APMFirmwareVersion& firmwareVersion);
     void _setInfoSeverity(mavlink_message_t* message) const;
     QString _getMessageText(mavlink_message_t* message) const;
-    void _handleParamValue(Vehicle* vehicle, mavlink_message_t* message);
-    void _handleParamSet(Vehicle* vehicle, mavlink_message_t* message);
-    bool _handleStatusText(Vehicle* vehicle, mavlink_message_t* message);
-    void _handleHeartbeat(Vehicle* vehicle, mavlink_message_t* message);
+    void _handleIncomingParamValue(Vehicle* vehicle, mavlink_message_t* message);
+    bool _handleIncomingStatusText(Vehicle* vehicle, mavlink_message_t* message);
+    void _handleIncomingHeartbeat(Vehicle* vehicle, mavlink_message_t* message);
+    void _handleOutgoingParamSet(Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message);
     void _soloVideoHandshake(Vehicle* vehicle);
 
     bool                    _textSeverityAdjustmentNeeded;

src/FirmwarePlugin/APM/APMGeoFenceManager.cc

@@ -178,13 +178,14 @@ void APMGeoFenceManager::_requestFencePoint(uint8_t pointIndex)
     MAVLinkProtocol*    mavlink = qgcApp()->toolbox()->mavlinkProtocol();
 
     qCDebug(GeoFenceManagerLog) << "APMGeoFenceManager::_requestFencePoint" << pointIndex;
-    mavlink_msg_fence_fetch_point_pack(mavlink->getSystemId(),
-                                       mavlink->getComponentId(),
-                                       &msg,
-                                       _vehicle->id(),
-                                       _vehicle->defaultComponentId(),
-                                       pointIndex);
-    _vehicle->sendMessageOnPriorityLink(msg);
+    mavlink_msg_fence_fetch_point_pack_chan(mavlink->getSystemId(),
+                                            mavlink->getComponentId(),
+                                            _vehicle->priorityLink()->mavlinkChannel(),
+                                            &msg,
+                                            _vehicle->id(),
+                                            _vehicle->defaultComponentId(),
+                                            pointIndex);
+    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 }
 
 void APMGeoFenceManager::_sendFencePoint(uint8_t pointIndex)
@@ -206,16 +207,17 @@ void APMGeoFenceManager::_sendFencePoint(uint8_t pointIndex)
     // Total point count, +1 polygon close in last index, +1 for breach in index 0
     uint8_t totalPointCount = _polygon.count() + 1 + 1;
 
-    mavlink_msg_fence_point_pack(mavlink->getSystemId(),
-                                 mavlink->getComponentId(),
-                                 &msg,
-                                 _vehicle->id(),
-                                 _vehicle->defaultComponentId(),
-                                 pointIndex,                        // Index of point to set
-                                 totalPointCount,
-                                 fenceCoord.latitude(),
-                                 fenceCoord.longitude());
-    _vehicle->sendMessageOnPriorityLink(msg);
+    mavlink_msg_fence_point_pack_chan(mavlink->getSystemId(),
+                                      mavlink->getComponentId(),
+                                      _vehicle->priorityLink()->mavlinkChannel(),
+                                      &msg,
+                                      _vehicle->id(),
+                                      _vehicle->defaultComponentId(),
+                                      pointIndex,                        // Index of point to set
+                                      totalPointCount,
+                                      fenceCoord.latitude(),
+                                      fenceCoord.longitude());
+    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 }
 
 bool APMGeoFenceManager::inProgress(void) const

src/FirmwarePlugin/APM/APMRallyPointManager.cc

@@ -109,13 +109,14 @@ void APMRallyPointManager::_requestRallyPoint(uint8_t pointIndex)
     MAVLinkProtocol*    mavlink = qgcApp()->toolbox()->mavlinkProtocol();
 
     qCDebug(RallyPointManagerLog) << "APMRallyPointManager::_requestRallyPoint" << pointIndex;
-    mavlink_msg_rally_fetch_point_pack(mavlink->getSystemId(),
-                                       mavlink->getComponentId(),
-                                       &msg,
-                                       _vehicle->id(),
-                                       _vehicle->defaultComponentId(),
-                                       pointIndex);
-    _vehicle->sendMessageOnPriorityLink(msg);
+    mavlink_msg_rally_fetch_point_pack_chan(mavlink->getSystemId(),
+                                            mavlink->getComponentId(),
+                                            _vehicle->priorityLink()->mavlinkChannel(),
+                                            &msg,
+                                            _vehicle->id(),
+                                            _vehicle->defaultComponentId(),
+                                            pointIndex);
+    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 }
 
 void APMRallyPointManager::_sendRallyPoint(uint8_t pointIndex)
@@ -124,18 +125,19 @@ void APMRallyPointManager::_sendRallyPoint(uint8_t pointIndex)
     MAVLinkProtocol*    mavlink = qgcApp()->toolbox()->mavlinkProtocol();
 
     QGeoCoordinate point = _rgPoints[pointIndex];
-    mavlink_msg_rally_point_pack(mavlink->getSystemId(),
-                                 mavlink->getComponentId(),
-                                 &msg,
-                                 _vehicle->id(),
-                                 _vehicle->defaultComponentId(),
-                                 pointIndex,
-                                 _rgPoints.count(),
-                                 point.latitude() * 1e7,
-                                 point.longitude() * 1e7,
-                                 point.altitude(),
-                                 0, 0, 0);          //  break_alt, land_dir, flags
-    _vehicle->sendMessageOnPriorityLink(msg);
+    mavlink_msg_rally_point_pack_chan(mavlink->getSystemId(),
+                                      mavlink->getComponentId(),
+                                      _vehicle->priorityLink()->mavlinkChannel(),
+                                      &msg,
+                                      _vehicle->id(),
+                                      _vehicle->defaultComponentId(),
+                                      pointIndex,
+                                      _rgPoints.count(),
+                                      point.latitude() * 1e7,
+                                      point.longitude() * 1e7,
+                                      point.altitude(),
+                                      0, 0, 0);          //  break_alt, land_dir, flags
+    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 }
 
 bool APMRallyPointManager::inProgress(void) const

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -141,9 +141,13 @@ void ArduCopterFirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle, double altitu
     cmd.target_component = vehicle->defaultComponentId();
 
     MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
-    mavlink_msg_command_long_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);
+    mavlink_msg_command_long_encode_chan(mavlink->getSystemId(),
+                                         mavlink->getComponentId(),
+                                         vehicle->priorityLink()->mavlinkChannel(),
+                                         &msg,
+                                         &cmd);
 
-    vehicle->sendMessageOnPriorityLink(msg);
+    vehicle->sendMessageOnLink(vehicle->priorityLink(), msg);
 }
 
 void ArduCopterFirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord)
@@ -179,9 +183,13 @@ void ArduCopterFirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double
     cmd.z = -(altitudeRel - vehicle->altitudeRelative()->rawValue().toDouble());
 
     MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
-    mavlink_msg_set_position_target_local_ned_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);
+    mavlink_msg_set_position_target_local_ned_encode_chan(mavlink->getSystemId(),
+                                                          mavlink->getComponentId(),
+                                                          vehicle->priorityLink()->mavlinkChannel(),
+                                                          &msg,
+                                                          &cmd);
 
-    vehicle->sendMessageOnPriorityLink(msg);
+    vehicle->sendMessageOnLink(vehicle->priorityLink(), msg);
 }
 
 bool ArduCopterFirmwarePlugin::isPaused(const Vehicle* vehicle) const

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -112,9 +112,10 @@ bool FirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_mess
     return true;
 }
 
-void FirmwarePlugin::adjustOutgoingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message)
+void FirmwarePlugin::adjustOutgoingMavlinkMessage(Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message)
 {
     Q_UNUSED(vehicle);
+    Q_UNUSED(outgoingLink);
     Q_UNUSED(message);
     // Generic plugin does no message adjustment
 }

src/FirmwarePlugin/FirmwarePlugin.h

@@ -159,8 +159,9 @@ public:
     /// This is handy to adjust or differences in mavlink spec implementations such that the base code can remain
     /// mavlink generic.
     ///     @param vehicle Vehicle message came from
+    ///     @param outgoingLink Link that messae is going out on
     ///     @param message[in,out] Mavlink message to adjust if needed.
-    virtual void adjustOutgoingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message);
+    virtual void adjustOutgoingMavlinkMessage(Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message);
 
     /// Determines how to handle the first item of the mission item list. Internally to QGC the first item
     /// is always the home position.

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -283,9 +283,13 @@ void PX4FirmwarePlugin::pauseVehicle(Vehicle* vehicle)
     cmd.target_component = vehicle->defaultComponentId();
 
     MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
-    mavlink_msg_command_long_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);
+    mavlink_msg_command_long_encode_chan(mavlink->getSystemId(),
+                                         mavlink->getComponentId(),
+                                         vehicle->priorityLink()->mavlinkChannel(),
+                                         &msg,
+                                         &cmd);
 
-    vehicle->sendMessageOnPriorityLink(msg);
+    vehicle->sendMessageOnLink(vehicle->priorityLink(), msg);
 }
 
 void PX4FirmwarePlugin::guidedModeRTL(Vehicle* vehicle)
@@ -317,8 +321,12 @@ void PX4FirmwarePlugin::guidedModeOrbit(Vehicle* vehicle, const QGeoCoordinate&
     cmd.param7 = centerCoord.isValid() ? centerCoord.altitude()  : NAN;
     cmd.target_system = vehicle->id();
     cmd.target_component = vehicle->defaultComponentId();
-    mavlink_msg_command_long_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);
-    vehicle->sendMessageOnPriorityLink(msg);
+    mavlink_msg_command_long_encode_chan(mavlink->getSystemId(),
+                                         mavlink->getComponentId(),
+                                         vehicle->priorityLink()->mavlinkChannel(),
+                                         &msg,
+                                         &cmd);
+    vehicle->sendMessageOnLink(vehicle->priorityLink(), msg);
 }
 
 void PX4FirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle, double altitudeRel)
@@ -347,8 +355,12 @@ void PX4FirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle, double altitudeRel)
     cmd.target_system = vehicle->id();
     cmd.target_component = vehicle->defaultComponentId();
 
-    mavlink_msg_command_long_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);
-    vehicle->sendMessageOnPriorityLink(msg);
+    mavlink_msg_command_long_encode_chan(mavlink->getSystemId(),
+                                         mavlink->getComponentId(),
+                                         vehicle->priorityLink()->mavlinkChannel(),
+                                         &msg,
+                                         &cmd);
+    vehicle->sendMessageOnLink(vehicle->priorityLink(), msg);
 }
 
 void PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord)
@@ -374,9 +386,13 @@ void PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoord
     cmd.target_component = vehicle->defaultComponentId();
 
     MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
-    mavlink_msg_command_long_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);
+    mavlink_msg_command_long_encode_chan(mavlink->getSystemId(),
+                                         mavlink->getComponentId(),
+                                         vehicle->priorityLink()->mavlinkChannel(),
+                                         &msg,
+                                         &cmd);
 
-    vehicle->sendMessageOnPriorityLink(msg);
+    vehicle->sendMessageOnLink(vehicle->priorityLink(), msg);
 }
 
 void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitudeRel)
@@ -402,9 +418,13 @@ void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
     cmd.target_component = vehicle->defaultComponentId();
 
     MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
-    mavlink_msg_command_long_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);
+    mavlink_msg_command_long_encode_chan(mavlink->getSystemId(),
+                                         mavlink->getComponentId(),
+                                         vehicle->priorityLink()->mavlinkChannel(),
+                                         &msg,
+                                         &cmd);
 
-    vehicle->sendMessageOnPriorityLink(msg);
+    vehicle->sendMessageOnLink(vehicle->priorityLink(), msg);
 }
 
 void PX4FirmwarePlugin::setGuidedMode(Vehicle* vehicle, bool guidedMode)

src/FollowMe/FollowMe.cc

@@ -140,11 +140,12 @@ void FollowMe::_sendGCSMotionReport(void)
         Vehicle* vehicle = qobject_cast<Vehicle*>(vehicles[i]);
         if(vehicle->flightMode().compare(PX4FirmwarePlugin::followMeFlightMode, Qt::CaseInsensitive) == 0) {
             mavlink_message_t message;
-            mavlink_msg_follow_target_encode(mavlinkProtocol->getSystemId(),
-                                             mavlinkProtocol->getComponentId(),
-                                             &message,
-                                             &follow_target);
-            vehicle->sendMessageOnPriorityLink(message);
+            mavlink_msg_follow_target_encode_chan(mavlinkProtocol->getSystemId(),
+                                                  mavlinkProtocol->getComponentId(),
+                                                  vehicle->priorityLink()->mavlinkChannel(),
+                                                  &message,
+                                                  &follow_target);
+            vehicle->sendMessageOnLink(vehicle->priorityLink(), message);
         }
     }
 }

src/GPS/RTCM/RTCMMavlink.cc

@@ -61,8 +61,11 @@ void RTCMMavlink::sendMessageToVehicle(const mavlink_gps_rtcm_data_t& msg)
     for (int i = 0; i < vehicles.count(); i++) {
         Vehicle* vehicle = qobject_cast<Vehicle*>(vehicles[i]);
         mavlink_message_t message;
-        mavlink_msg_gps_rtcm_data_encode(mavlinkProtocol->getSystemId(),
-                mavlinkProtocol->getComponentId(), &message, &msg);
-        vehicle->sendMessageOnPriorityLink(message);
+        mavlink_msg_gps_rtcm_data_encode_chan(mavlinkProtocol->getSystemId(),
+                                              mavlinkProtocol->getComponentId(),
+                                              vehicle->priorityLink()->mavlinkChannel(),
+                                              &message,
+                                              &msg);
+        vehicle->sendMessageOnLink(vehicle->priorityLink(), message);
     }
 }

src/MissionManager/MissionManager.cc

@@ -90,9 +90,13 @@ void MissionManager::writeMissionItems(const QList<MissionItem*>& missionItems)
     missionCount.target_component = MAV_COMP_ID_MISSIONPLANNER;
     missionCount.count = _missionItems.count();
 
-    mavlink_msg_mission_count_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &missionCount);
-
     _dedicatedLink = _vehicle->priorityLink();
+    mavlink_msg_mission_count_encode_chan(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
+                                          qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
+                                          _dedicatedLink->mavlinkChannel(),
+                                          &message,
+                                          &missionCount);
+
     _vehicle->sendMessageOnLink(_dedicatedLink, message);
     _startAckTimeout(AckMissionRequest);
     emit inProgressChanged(true);
@@ -125,9 +129,13 @@ void MissionManager::writeArduPilotGuidedMissionItem(const QGeoCoordinate& gotoC
     missionItem.current =           altChangeOnly ? 3 : 2;
     missionItem.autocontinue =      true;
 
-    mavlink_msg_mission_item_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &messageOut, &missionItem);
-
     _dedicatedLink = _vehicle->priorityLink();
+    mavlink_msg_mission_item_encode_chan(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
+                                         qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
+                                         _dedicatedLink->mavlinkChannel(),
+                                         &messageOut,
+                                         &missionItem);
+
     _vehicle->sendMessageOnLink(_dedicatedLink, messageOut);
     _startAckTimeout(AckGuidedItem);
     emit inProgressChanged(true);
@@ -157,9 +165,13 @@ void MissionManager::requestMissionItems(void)
     request.target_system = _vehicle->id();
     request.target_component = MAV_COMP_ID_MISSIONPLANNER;
     
-    mavlink_msg_mission_request_list_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &request);
-    
     _dedicatedLink = _vehicle->priorityLink();
+    mavlink_msg_mission_request_list_encode_chan(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
+                                                 qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
+                                                 _dedicatedLink->mavlinkChannel(),
+                                                 &message,
+                                                 &request);
+    
     _vehicle->sendMessageOnLink(_dedicatedLink, message);
     _startAckTimeout(AckMissionCount);
     emit inProgressChanged(true);
@@ -223,7 +235,11 @@ void MissionManager::_readTransactionComplete(void)
     missionAck.target_component =   MAV_COMP_ID_MISSIONPLANNER;
     missionAck.type =               MAV_MISSION_ACCEPTED;
     
-    mavlink_msg_mission_ack_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &missionAck);
+    mavlink_msg_mission_ack_encode_chan(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
+                                        qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
+                                        _dedicatedLink->mavlinkChannel(),
+                                        &message,
+                                        &missionAck);
     
     _vehicle->sendMessageOnLink(_dedicatedLink, message);
 
@@ -269,7 +285,11 @@ void MissionManager::_requestNextMissionItem(void)
     missionRequest.target_component =   MAV_COMP_ID_MISSIONPLANNER;
     missionRequest.seq =                _itemIndicesToRead[0];
     
-    mavlink_msg_mission_request_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &missionRequest);
+    mavlink_msg_mission_request_encode_chan(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
+                                            qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
+                                            _dedicatedLink->mavlinkChannel(),
+                                            &message,
+                                            &missionRequest);
     
     _vehicle->sendMessageOnLink(_dedicatedLink, message);
     _startAckTimeout(AckMissionItem);
@@ -377,7 +397,11 @@ void MissionManager::_handleMissionRequest(const mavlink_message_t& message)
     missionItem.current =           missionRequest.seq == 0;
     missionItem.autocontinue =      item->autoContinue();
     
-    mavlink_msg_mission_item_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &messageOut, &missionItem);
+    mavlink_msg_mission_item_encode_chan(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
+                                         qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
+                                         _dedicatedLink->mavlinkChannel(),
+                                         &messageOut,
+                                         &missionItem);
     
     _vehicle->sendMessageOnLink(_dedicatedLink, messageOut);
     _startAckTimeout(AckMissionRequest);

src/QmlControls/QGroundControlQmlGlobal.cc

@@ -188,12 +188,6 @@ void QGroundControlQmlGlobal::setIsSaveLogPromptNotArmed(bool prompt)
     emit isSaveLogPromptNotArmedChanged(prompt);
 }
 
-void QGroundControlQmlGlobal::setIsMultiplexingEnabled(bool enable)
-{
-    qgcApp()->toolbox()->mavlinkProtocol()->enableMultiplexing(enable);
-    emit isMultiplexingEnabledChanged(enable);
-}
-
 void QGroundControlQmlGlobal::setIsVersionCheckEnabled(bool enable)
 {
     qgcApp()->toolbox()->mavlinkProtocol()->enableVersionCheck(enable);

src/QmlControls/QGroundControlQmlGlobal.h

@@ -87,7 +87,6 @@ public:
     Q_PROPERTY(qreal    baseFontPointSize       READ baseFontPointSize          WRITE setBaseFontPointSize          NOTIFY baseFontPointSizeChanged)
 
     // MavLink Protocol
-    Q_PROPERTY(bool     isMultiplexingEnabled   READ isMultiplexingEnabled      WRITE setIsMultiplexingEnabled      NOTIFY isMultiplexingEnabledChanged)
     Q_PROPERTY(bool     isVersionCheckEnabled   READ isVersionCheckEnabled      WRITE setIsVersionCheckEnabled      NOTIFY isVersionCheckEnabledChanged)
     Q_PROPERTY(int      mavlinkSystemID         READ mavlinkSystemID            WRITE setMavlinkSystemID            NOTIFY mavlinkSystemIDChanged)
 
@@ -179,7 +178,6 @@ public:
     bool    virtualTabletJoystick   () { return _virtualTabletJoystick; }
     qreal   baseFontPointSize       () { return _baseFontPointSize; }
 
-    bool    isMultiplexingEnabled   () { return _toolbox->mavlinkProtocol()->multiplexingEnabled(); }
     bool    isVersionCheckEnabled   () { return _toolbox->mavlinkProtocol()->versionCheckEnabled(); }
     int     mavlinkSystemID         () { return _toolbox->mavlinkProtocol()->getSystemId(); }
 
@@ -204,7 +202,6 @@ public:
     void    setVirtualTabletJoystick    (bool enabled);
     void    setBaseFontPointSize        (qreal size);
 
-    void    setIsMultiplexingEnabled    (bool enable);
     void    setIsVersionCheckEnabled    (bool enable);
     void    setMavlinkSystemID          (int  id);
 

src/Vehicle/MultiVehicleManager.cc

@@ -307,15 +307,16 @@ void MultiVehicleManager::_sendGCSHeartbeat(void)
         Vehicle* vehicle = qobject_cast<Vehicle*>(_vehicles[i]);
 
         mavlink_message_t message;
-        mavlink_msg_heartbeat_pack(_mavlinkProtocol->getSystemId(),
-                                   _mavlinkProtocol->getComponentId(),
-                                   &message,
-                                   MAV_TYPE_GCS,            // MAV_TYPE
-                                   MAV_AUTOPILOT_INVALID,   // MAV_AUTOPILOT
-                                   MAV_MODE_MANUAL_ARMED,   // MAV_MODE
-                                   0,                       // custom mode
-                                   MAV_STATE_ACTIVE);       // MAV_STATE
-        vehicle->sendMessageOnPriorityLink(message);
+        mavlink_msg_heartbeat_pack_chan(_mavlinkProtocol->getSystemId(),
+                                        _mavlinkProtocol->getComponentId(),
+                                        vehicle->priorityLink()->mavlinkChannel(),
+                                        &message,
+                                        MAV_TYPE_GCS,            // MAV_TYPE
+                                        MAV_AUTOPILOT_INVALID,   // MAV_AUTOPILOT
+                                        MAV_MODE_MANUAL_ARMED,   // MAV_MODE
+                                        0,                       // custom mode
+                                        MAV_STATE_ACTIVE);       // MAV_STATE
+        vehicle->sendMessageOnLink(vehicle->priorityLink(), message);
     }
 }
 

src/Vehicle/Vehicle.cc

@@ -221,7 +221,11 @@ Vehicle::Vehicle(LinkInterface*             link,
     versionCmd.param2 = versionCmd.param3 = versionCmd.param4 = versionCmd.param5 = versionCmd.param6 = versionCmd.param7 = 0;
     versionCmd.target_system = id();
     versionCmd.target_component = MAV_COMP_ID_ALL;
-    mavlink_msg_command_long_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &versionMsg, &versionCmd);
+    mavlink_msg_command_long_encode_chan(_mavlink->getSystemId(),
+                                         _mavlink->getComponentId(),
+                                         priorityLink()->mavlinkChannel(),
+                                         &versionMsg,
+                                         &versionCmd);
     sendMessageMultiple(versionMsg);
 
     _firmwarePlugin->initializeVehicle(this);
@@ -874,10 +878,7 @@ void Vehicle::_sendMessageOnLink(LinkInterface* link, mavlink_message_t message)
     }
 
     // Give the plugin a chance to adjust
-    _firmwarePlugin->adjustOutgoingMavlinkMessage(this, &message);
-
-    static const uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
-    mavlink_finalize_message_chan(&message, _mavlink->getSystemId(), _mavlink->getComponentId(), link->getMavlinkChannel(), message.len, message.len, messageKeys[message.msgid]);
+    _firmwarePlugin->adjustOutgoingMavlinkMessage(this, link, &message);
 
     // Write message into buffer, prepending start sign
     uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
@@ -1277,9 +1278,13 @@ void Vehicle::setArmed(bool armed)
     cmd.target_system = id();
     cmd.target_component = defaultComponentId();
 
-    mavlink_msg_command_long_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &cmd);
+    mavlink_msg_command_long_encode_chan(_mavlink->getSystemId(),
+                                         _mavlink->getComponentId(),
+                                         priorityLink()->mavlinkChannel(),
+                                         &msg,
+                                         &cmd);
 
-    sendMessageOnPriorityLink(msg);
+    sendMessageOnLink(priorityLink(), msg);
 }
 
 bool Vehicle::flightModeSetAvailable(void)
@@ -1309,8 +1314,14 @@ void Vehicle::setFlightMode(const QString& flightMode)
         newBaseMode |= base_mode;
 
         mavlink_message_t msg;
-        mavlink_msg_set_mode_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, id(), newBaseMode, custom_mode);
-        sendMessageOnPriorityLink(msg);
+        mavlink_msg_set_mode_pack_chan(_mavlink->getSystemId(),
+                                       _mavlink->getComponentId(),
+                                       priorityLink()->mavlinkChannel(),
+                                       &msg,
+                                       id(),
+                                       newBaseMode,
+                                       custom_mode);
+        sendMessageOnLink(priorityLink(), msg);
     } else {
         qWarning() << "FirmwarePlugin::setFlightMode failed, flightMode:" << flightMode;
     }
@@ -1330,8 +1341,14 @@ void Vehicle::setHilMode(bool hilMode)
         newBaseMode |= MAV_MODE_FLAG_HIL_ENABLED;
     }
 
-    mavlink_msg_set_mode_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, id(), newBaseMode, _custom_mode);
-    sendMessageOnPriorityLink(msg);
+    mavlink_msg_set_mode_pack_chan(_mavlink->getSystemId(),
+                                   _mavlink->getComponentId(),
+                                   priorityLink()->mavlinkChannel(),
+                                   &msg,
+                                   id(),
+                                   newBaseMode,
+                                   _custom_mode);
+    sendMessageOnLink(priorityLink(), msg);
 }
 
 void Vehicle::requestDataStream(MAV_DATA_STREAM stream, uint16_t rate, bool sendMultiple)
@@ -1345,13 +1362,17 @@ void Vehicle::requestDataStream(MAV_DATA_STREAM stream, uint16_t rate, bool send
     dataStream.target_system = id();
     dataStream.target_component = defaultComponentId();
 
-    mavlink_msg_request_data_stream_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &dataStream);
+    mavlink_msg_request_data_stream_encode_chan(_mavlink->getSystemId(),
+                                                _mavlink->getComponentId(),
+                                                priorityLink()->mavlinkChannel(),
+                                                &msg,
+                                                &dataStream);
 
     if (sendMultiple) {
         // We use sendMessageMultiple since we really want these to make it to the vehicle
         sendMessageMultiple(msg);
     } else {
-        sendMessageOnPriorityLink(msg);
+        sendMessageOnLink(priorityLink(), msg);
     }
 }
 
@@ -1360,7 +1381,7 @@ void Vehicle::_sendMessageMultipleNext(void)
     if (_nextSendMessageMultipleIndex < _sendMessageMultipleList.count()) {
         qCDebug(VehicleLog) << "_sendMessageMultipleNext:" << _sendMessageMultipleList[_nextSendMessageMultipleIndex].message.msgid;
 
-        sendMessageOnPriorityLink(_sendMessageMultipleList[_nextSendMessageMultipleIndex].message);
+        sendMessageOnLink(priorityLink(), _sendMessageMultipleList[_nextSendMessageMultipleIndex].message);
 
         if (--_sendMessageMultipleList[_nextSendMessageMultipleIndex].retryCount <= 0) {
             _sendMessageMultipleList.removeAt(_nextSendMessageMultipleIndex);
@@ -1764,9 +1785,13 @@ void Vehicle::emergencyStop(void)
     cmd.param7 = 0.0f;
     cmd.target_system = id();
     cmd.target_component = defaultComponentId();
-    mavlink_msg_command_long_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &cmd);
+    mavlink_msg_command_long_encode_chan(_mavlink->getSystemId(),
+                                         _mavlink->getComponentId(),
+                                         priorityLink()->mavlinkChannel(),
+                                         &msg,
+                                         &cmd);
 
-    sendMessageOnPriorityLink(msg);
+    sendMessageOnLink(priorityLink(), msg);
 }
 
 void Vehicle::setCurrentMissionSequence(int seq)
@@ -1775,8 +1800,14 @@ void Vehicle::setCurrentMissionSequence(int seq)
         seq--;
     }
     mavlink_message_t msg;
-    mavlink_msg_mission_set_current_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, id(), _compID, seq);
-    sendMessageOnPriorityLink(msg);
+    mavlink_msg_mission_set_current_pack_chan(_mavlink->getSystemId(),
+                                              _mavlink->getComponentId(),
+                                              priorityLink()->mavlinkChannel(),
+                                              &msg,
+                                              id(),
+                                              _compID,
+                                              seq);
+    sendMessageOnLink(priorityLink(), msg);
 }
 
 void Vehicle::doCommandLong(int component, MAV_CMD command, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
@@ -1795,9 +1826,13 @@ void Vehicle::doCommandLong(int component, MAV_CMD command, float param1, float
     cmd.param7 = param7;
     cmd.target_system = id();
     cmd.target_component = component;
-    mavlink_msg_command_long_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &cmd);
+    mavlink_msg_command_long_encode_chan(_mavlink->getSystemId(),
+                                         _mavlink->getComponentId(),
+                                         priorityLink()->mavlinkChannel(),
+                                         &msg,
+                                         &cmd);
 
-    sendMessageOnPriorityLink(msg);
+    sendMessageOnLink(priorityLink(), msg);
 }
 
 void Vehicle::setPrearmError(const QString& prearmError)

src/Vehicle/Vehicle.h

@@ -430,10 +430,6 @@ public:
     /// @return true: message sent, false: Link no longer connected
     bool sendMessageOnLink(LinkInterface* link, mavlink_message_t message);
 
-    /// Sends a message to the priority link
-    /// @return true: message sent, false: Link no longer connected
-    bool sendMessageOnPriorityLink(mavlink_message_t message) { return sendMessageOnLink(priorityLink(), message); }
-
     /// Sends the specified messages multiple times to the vehicle in order to attempt to
     /// guarantee that it makes it to the vehicle.
     void sendMessageMultiple(mavlink_message_t message);

src/ViewWidgets/LogDownloadController.cc

@@ -458,12 +458,13 @@ LogDownloadController::_requestLogData(uint8_t id, uint32_t offset, uint32_t cou
         id += _apmOneBased;
         qCDebug(LogDownloadLog) << "Request log data (id:" << id << "offset:" << offset << "size:" << count << ")";
         mavlink_message_t msg;
-        mavlink_msg_log_request_data_pack(
-            qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
-            qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
-            &msg,
-            qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->id(), qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->defaultComponentId(),
-            id, offset, count);
+        mavlink_msg_log_request_data_pack_chan(
+                    qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
+                    qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
+                    _vehicle->priorityLink()->mavlinkChannel(),
+                    &msg,
+                    qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->id(), qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->defaultComponentId(),
+                    id, offset, count);
         _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
     }
 }
@@ -485,14 +486,15 @@ LogDownloadController::_requestLogList(uint32_t start, uint32_t end)
         qCDebug(LogDownloadLog) << "Request log entry list (" << start << "through" << end << ")";
         _setListing(true);
         mavlink_message_t msg;
-        mavlink_msg_log_request_list_pack(
-            qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
-            qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
-            &msg,
-            _vehicle->id(),
-            _vehicle->defaultComponentId(),
-            start,
-            end);
+        mavlink_msg_log_request_list_pack_chan(
+                    qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
+                    qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
+                    _vehicle->priorityLink()->mavlinkChannel(),
+                    &msg,
+                    _vehicle->id(),
+                    _vehicle->defaultComponentId(),
+                    start,
+                    end);
         _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
         //-- Wait 5 seconds before bitching about not getting anything
         _timer.start(5000);
@@ -650,11 +652,12 @@ LogDownloadController::eraseAll(void)
 {
     if(_vehicle && _uas) {
         mavlink_message_t msg;
-        mavlink_msg_log_erase_pack(
-            qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
-            qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
-            &msg,
-            qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->id(), qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->defaultComponentId());
+        mavlink_msg_log_erase_pack_chan(
+                    qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
+                    qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
+                    _vehicle->priorityLink()->mavlinkChannel(),
+                    &msg,
+                    qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->id(), qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->defaultComponentId());
         _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
         refresh();
     }

src/comm/LinkInterface.h

@@ -7,15 +7,6 @@
  *
  ****************************************************************************/
 
-
-/**
-* @file
-*   @brief Brief Description
-*
-*   @author Lorenz Meier <mavteam@student.ethz.ch>
-*
-*/
-
 #ifndef _LINKINTERFACE_H_
 #define _LINKINTERFACE_H_
 
@@ -25,6 +16,7 @@
 #include <QMutexLocker>
 #include <QMetaType>
 #include <QSharedPointer>
+#include <QDebug>
 
 #include "QGCMAVLink.h"
 
@@ -124,7 +116,13 @@ public:
     
     /// mavlink channel to use for this link, as used by mavlink_parse_char. The mavlink channel is only
     /// set into the link when it is added to LinkManager
-    uint8_t getMavlinkChannel(void) const { Q_ASSERT(_mavlinkChannelSet); return _mavlinkChannel; }
+    uint8_t mavlinkChannel(void) const
+    {
+        if (!_mavlinkChannelSet) {
+            qWarning() << "Call to LinkInterface::mavlinkChannel with _mavlinkChannelSet == false";
+        }
+        return _mavlinkChannel;
+    }
 
     // These are left unimplemented in order to cause linker errors which indicate incorrect usage of
     // connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager.

src/comm/LinkManager.cc

@@ -270,7 +270,7 @@ void LinkManager::_deleteLink(LinkInterface* link)
     }
 
     // Free up the mavlink channel associated with this link
-    _mavlinkChannelsUsedBitMask &= ~(1 << link->getMavlinkChannel());
+    _mavlinkChannelsUsedBitMask &= ~(1 << link->mavlinkChannel());
 
     _links.removeOne(link);
     delete link;

src/comm/LogReplayLink.cc

@@ -167,7 +167,7 @@ quint64 LogReplayLink::_seekToNextMavlinkMessage(mavlink_message_t* nextMsg)
     char nextByte;
     mavlink_status_t comm;
     while (_logFile.getChar(&nextByte)) { // Loop over every byte
-        bool messageFound = mavlink_parse_char(getMavlinkChannel(), nextByte, nextMsg, &comm);
+        bool messageFound = mavlink_parse_char(mavlinkChannel(), nextByte, nextMsg, &comm);
         
         // If we've found a message, jump back to the start of the message, grab the timestamp,
         // and go back to the end of this file.

src/comm/MAVLinkProtocol.cc

@@ -51,13 +51,7 @@ const char* MAVLinkProtocol::_logFileExtension = "mavlink";             ///< Ext
  */
 MAVLinkProtocol::MAVLinkProtocol(QGCApplication* app)
     : QGCTool(app)
-    , m_multiplexingEnabled(false)
     , m_enable_version_check(true)
-    , m_paramRetransmissionTimeout(350)
-    , m_paramRewriteTimeout(500)
-    , m_paramGuardEnabled(true)
-    , m_actionGuardEnabled(false)
-    , m_actionRetransmissionTimeout(100)
     , versionMismatchIgnore(false)
     , systemId(255)
 #ifndef __mobile__
@@ -124,7 +118,6 @@ void MAVLinkProtocol::loadSettings()
     QSettings settings;
     settings.beginGroup("QGC_MAVLINK_PROTOCOL");
     enableVersionCheck(settings.value("VERSION_CHECK_ENABLED", m_enable_version_check).toBool());
-    enableMultiplexing(settings.value("MULTIPLEXING_ENABLED", m_multiplexingEnabled).toBool());
 
     // Only set system id if it was valid
     int temp = settings.value("GCS_SYSTEM_ID", systemId).toInt();
@@ -132,15 +125,6 @@ void MAVLinkProtocol::loadSettings()
     {
         systemId = temp;
     }
-
-    // Parameter interface settings
-    bool ok;
-    temp = settings.value("PARAMETER_RETRANSMISSION_TIMEOUT", m_paramRetransmissionTimeout).toInt(&ok);
-    if (ok) m_paramRetransmissionTimeout = temp;
-    temp = settings.value("PARAMETER_REWRITE_TIMEOUT", m_paramRewriteTimeout).toInt(&ok);
-    if (ok) m_paramRewriteTimeout = temp;
-    m_paramGuardEnabled = settings.value("PARAMETER_TRANSMISSION_GUARD_ENABLED", m_paramGuardEnabled).toBool();
-    settings.endGroup();
 }
 
 void MAVLinkProtocol::storeSettings()
@@ -149,18 +133,13 @@ void MAVLinkProtocol::storeSettings()
     QSettings settings;
     settings.beginGroup("QGC_MAVLINK_PROTOCOL");
     settings.setValue("VERSION_CHECK_ENABLED", m_enable_version_check);
-    settings.setValue("MULTIPLEXING_ENABLED", m_multiplexingEnabled);
     settings.setValue("GCS_SYSTEM_ID", systemId);
     // Parameter interface settings
-    settings.setValue("PARAMETER_RETRANSMISSION_TIMEOUT", m_paramRetransmissionTimeout);
-    settings.setValue("PARAMETER_REWRITE_TIMEOUT", m_paramRewriteTimeout);
-    settings.setValue("PARAMETER_TRANSMISSION_GUARD_ENABLED", m_paramGuardEnabled);
-    settings.endGroup();
 }
 
 void MAVLinkProtocol::resetMetadataForLink(const LinkInterface *link)
 {
-    int channel = link->getMavlinkChannel();
+    int channel = link->mavlinkChannel();
     totalReceiveCounter[channel] = 0;
     totalLossCounter[channel] = 0;
     totalErrorCounter[channel] = 0;
@@ -188,7 +167,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
     mavlink_message_t message;
     mavlink_status_t status;
 
-    int mavlinkChannel = link->getMavlinkChannel();
+    int mavlinkChannel = link->mavlinkChannel();
 
     static int mavlink09Count = 0;
     static int nonmavlinkCount = 0;
@@ -235,19 +214,6 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
         {
             decodedFirstPacket = true;
 
-            if(message.msgid == MAVLINK_MSG_ID_PING)
-            {
-                // process ping requests (tgt_system and tgt_comp must be zero)
-                mavlink_ping_t ping;
-                mavlink_msg_ping_decode(&message, &ping);
-                if(!ping.target_system && !ping.target_component)
-                {
-                    mavlink_message_t msg;
-                    mavlink_msg_ping_pack(getSystemId(), getComponentId(), &msg, ping.time_usec, ping.seq, message.sysid, message.compid);
-                    _sendMessage(msg);
-                }
-            }
-
             if(message.msgid == MAVLINK_MSG_ID_RADIO_STATUS)
             {
                 // process telemetry status message
@@ -375,19 +341,6 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
             // kind of inefficient, but no issue for a groundstation pc.
             // It buys as reentrancy for the whole code over all threads
             emit messageReceived(link, message);
-
-            // Multiplex message if enabled
-            if (m_multiplexingEnabled)
-            {
-                // Emit message on all links that are currently connected
-                for (int i=0; i<_linkMgr->links()->count(); i++) {
-                    LinkInterface* currLink = _linkMgr->links()->value<LinkInterface*>(i);
-
-                    // Only forward this message to the other links,
-                    // not the link the message was received on
-                    if (currLink && currLink != link) _sendMessage(currLink, message, message.sysid, message.compid);
-                }
-            }
         }
     }
 }
@@ -417,110 +370,6 @@ int MAVLinkProtocol::getComponentId()
     return 0;
 }
 
-/**
- * @param message message to send
- */
-void MAVLinkProtocol::_sendMessage(mavlink_message_t message)
-{
-    for (int i=0; i<_linkMgr->links()->count(); i++) {
-        LinkInterface* link = _linkMgr->links()->value<LinkInterface*>(i);
-        _sendMessage(link, message);
-    }
-}
-
-/**
- * @param link the link to send the message over
- * @param message message to send
- */
-void MAVLinkProtocol::_sendMessage(LinkInterface* link, mavlink_message_t message)
-{
-    // Create buffer
-    static uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
-    // Rewriting header to ensure correct link ID is set
-    static uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
-    mavlink_finalize_message_chan(&message, this->getSystemId(), this->getComponentId(), link->getMavlinkChannel(), message.len, message.len, messageKeys[message.msgid]);
-    // Write message into buffer, prepending start sign
-    int len = mavlink_msg_to_send_buffer(buffer, &message);
-    // If link is connected
-    if (link->isConnected())
-    {
-        // Send the portion of the buffer now occupied by the message
-        link->writeBytesSafe((const char*)buffer, len);
-    }
-}
-
-/**
- * @param link the link to send the message over
- * @param message message to send
- * @param systemid id of the system the message is originating from
- * @param componentid id of the component the message is originating from
- */
-void MAVLinkProtocol::_sendMessage(LinkInterface* link, mavlink_message_t message, quint8 systemid, quint8 componentid)
-{
-    // Create buffer
-    static uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
-    // Rewriting header to ensure correct link ID is set
-    static uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
-    mavlink_finalize_message_chan(&message, systemid, componentid, link->getMavlinkChannel(), message.len, message.len, messageKeys[message.msgid]);
-    // Write message into buffer, prepending start sign
-    int len = mavlink_msg_to_send_buffer(buffer, &message);
-    // If link is connected
-    if (link->isConnected())
-    {
-        // Send the portion of the buffer now occupied by the message
-        link->writeBytesSafe((const char*)buffer, len);
-    }
-}
-
-void MAVLinkProtocol::enableMultiplexing(bool enabled)
-{
-    bool changed = false;
-    if (enabled != m_multiplexingEnabled) changed = true;
-
-    m_multiplexingEnabled = enabled;
-    if (changed) emit multiplexingChanged(m_multiplexingEnabled);
-}
-
-void MAVLinkProtocol::enableParamGuard(bool enabled)
-{
-    if (enabled != m_paramGuardEnabled) {
-        m_paramGuardEnabled = enabled;
-        emit paramGuardChanged(m_paramGuardEnabled);
-    }
-}
-
-void MAVLinkProtocol::enableActionGuard(bool enabled)
-{
-    if (enabled != m_actionGuardEnabled) {
-        m_actionGuardEnabled = enabled;
-        emit actionGuardChanged(m_actionGuardEnabled);
-    }
-}
-
-void MAVLinkProtocol::setParamRetransmissionTimeout(int ms)
-{
-    if (ms != m_paramRetransmissionTimeout) {
-        m_paramRetransmissionTimeout = ms;
-        emit paramRetransmissionTimeoutChanged(m_paramRetransmissionTimeout);
-    }
-}
-
-void MAVLinkProtocol::setParamRewriteTimeout(int ms)
-{
-    if (ms != m_paramRewriteTimeout) {
-        m_paramRewriteTimeout = ms;
-        emit paramRewriteTimeoutChanged(m_paramRewriteTimeout);
-    }
-}
-
-void MAVLinkProtocol::setActionRetransmissionTimeout(int ms)
-{
-    if (ms != m_actionRetransmissionTimeout) {
-        m_actionRetransmissionTimeout = ms;
-        emit actionRetransmissionTimeoutChanged(m_actionRetransmissionTimeout);
-    }
-}
-
 void MAVLinkProtocol::enableVersionCheck(bool enabled)
 {
     m_enable_version_check = enabled;

src/comm/MAVLinkProtocol.h

@@ -64,54 +64,30 @@ public:
     bool versionCheckEnabled() const {
         return m_enable_version_check;
     }
-    /** @brief Get the multiplexing state */
-    bool multiplexingEnabled() const {
-        return m_multiplexingEnabled;
-    }
     /** @brief Get the protocol version */
     int getVersion() {
         return MAVLINK_VERSION;
     }
-    /** @brief Get state of parameter retransmission */
-    bool paramGuardEnabled() {
-        return m_paramGuardEnabled;
-    }
-    /** @brief Get parameter read timeout */
-    int getParamRetransmissionTimeout() {
-        return m_paramRetransmissionTimeout;
-    }
-    /** @brief Get parameter write timeout */
-    int getParamRewriteTimeout() {
-        return m_paramRewriteTimeout;
-    }
-    /** @brief Get state of action retransmission */
-    bool actionGuardEnabled() {
-        return m_actionGuardEnabled;
-    }
-    /** @brief Get parameter read timeout */
-    int getActionRetransmissionTimeout() {
-        return m_actionRetransmissionTimeout;
-    }
     /**
      * Retrieve a total of all successfully parsed packets for the specified link.
      * @returns -1 if this is not available for this protocol, # of packets otherwise.
      */
     qint32 getReceivedPacketCount(const LinkInterface *link) const {
-        return totalReceiveCounter[link->getMavlinkChannel()];
+        return totalReceiveCounter[link->mavlinkChannel()];
     }
     /**
      * Retrieve a total of all parsing errors for the specified link.
      * @returns -1 if this is not available for this protocol, # of errors otherwise.
      */
     qint32 getParsingErrorCount(const LinkInterface *link) const {
-        return totalErrorCounter[link->getMavlinkChannel()];
+        return totalErrorCounter[link->mavlinkChannel()];
     }
     /**
      * Retrieve a total of all dropped packets for the specified link.
      * @returns -1 if this is not available for this protocol, # of packets otherwise.
      */
     qint32 getDroppedPacketCount(const LinkInterface *link) const {
-        return totalLossCounter[link->getMavlinkChannel()];
+        return totalLossCounter[link->mavlinkChannel()];
     }
     /**
      * Reset the counters for all metadata for this link.
@@ -131,24 +107,6 @@ public slots:
     /** @brief Set the system id of this application */
     void setSystemId(int id);
 
-    /** @brief Enabled/disable packet multiplexing */
-    void enableMultiplexing(bool enabled);
-
-    /** @brief Enable / disable parameter retransmission */
-    void enableParamGuard(bool enabled);
-
-    /** @brief Enable / disable action retransmission */
-    void enableActionGuard(bool enabled);
-
-    /** @brief Set parameter read timeout */
-    void setParamRetransmissionTimeout(int ms);
-
-    /** @brief Set parameter write timeout */
-    void setParamRewriteTimeout(int ms);
-
-    /** @brief Set parameter read timeout */
-    void setActionRetransmissionTimeout(int ms);
-
     /** @brief Enable / disable version check */
     void enableVersionCheck(bool enabled);
 
@@ -166,13 +124,7 @@ public slots:
 #endif
 
 protected:
-    bool m_multiplexingEnabled; ///< Enable/disable packet multiplexing
     bool m_enable_version_check; ///< Enable checking of version match of MAV and QGC
-    int m_paramRetransmissionTimeout; ///< Timeout for parameter retransmission
-    int m_paramRewriteTimeout;    ///< Timeout for sending re-write request
-    bool m_paramGuardEnabled;       ///< Parameter retransmission/rewrite enabled
-    bool m_actionGuardEnabled;       ///< Action request retransmission enabled
-    int m_actionRetransmissionTimeout; ///< Timeout for parameter retransmission
     QMutex receiveMutex;        ///< Mutex to protect receiveBytes function
     int lastIndex[256][256];    ///< Store the last received sequence ID for each system/componenet pair
     int totalReceiveCounter[MAVLINK_COMM_NUM_BUFFERS];    ///< The total number of successfully received messages
@@ -189,24 +141,12 @@ signals:
 
     /** @brief Message received and directly copied via signal */
     void messageReceived(LinkInterface* link, mavlink_message_t message);
-    /** @brief Emitted if multiplexing is started / stopped */
-    void multiplexingChanged(bool enabled);
     /** @brief Emitted if version check is enabled / disabled */
     void versionCheckChanged(bool enabled);
     /** @brief Emitted if a message from the protocol should reach the user */
     void protocolStatusMessage(const QString& title, const QString& message);
     /** @brief Emitted if a new system ID was set */
     void systemIdChanged(int systemId);
-    /** @brief Emitted if param guard status changed */
-    void paramGuardChanged(bool enabled);
-    /** @brief Emitted if param read timeout changed */
-    void paramRetransmissionTimeoutChanged(int ms);
-    /** @brief Emitted if param write timeout changed */
-    void paramRewriteTimeoutChanged(int ms);
-    /** @brief Emitted if action guard status changed */
-    void actionGuardChanged(bool enabled);
-    /** @brief Emitted if action request timeout changed */
-    void actionRetransmissionTimeoutChanged(int ms);
 
     void receiveLossPercentChanged(int uasId, float lossPercent);
     void receiveLossTotalChanged(int uasId, int totalLoss);
@@ -232,10 +172,6 @@ private slots:
     void _vehicleCountChanged(int count);
     
 private:
-    void _sendMessage(mavlink_message_t message);
-    void _sendMessage(LinkInterface* link, mavlink_message_t message);
-    void _sendMessage(LinkInterface* link, mavlink_message_t message, quint8 systemid, quint8 componentid);
-
 #ifndef __mobile__
     bool _closeLogFile(void);
     void _startLogging(void);

src/comm/MockLink.cc

@@ -260,14 +260,15 @@ void MockLink::_sendHeartBeat(void)
 {
     mavlink_message_t   msg;
 
-    mavlink_msg_heartbeat_pack(_vehicleSystemId,
-                               _vehicleComponentId,
-                               &msg,
-                               _vehicleType,        // MAV_TYPE
-                               _firmwareType,      // MAV_AUTOPILOT
-                               _mavBaseMode,        // MAV_MODE
-                               _mavCustomMode,      // custom mode
-                               _mavState);          // MAV_STATE
+    mavlink_msg_heartbeat_pack_chan(_vehicleSystemId,
+                                    _vehicleComponentId,
+                                    mavlinkChannel(),
+                                    &msg,
+                                    _vehicleType,        // MAV_TYPE
+                                    _firmwareType,      // MAV_AUTOPILOT
+                                    _mavBaseMode,        // MAV_MODE
+                                    _mavCustomMode,      // custom mode
+                                    _mavState);          // MAV_STATE
 
     respondWithMavlinkMessage(msg);
 }
@@ -276,16 +277,17 @@ void MockLink::_sendVibration(void)
 {
     mavlink_message_t   msg;
 
-    mavlink_msg_vibration_pack(_vehicleSystemId,
-                               _vehicleComponentId,
-                               &msg,
-                               0,       // time_usec
-                               50.5,    // vibration_x,
-                               10.5,    // vibration_y,
-                               60.0,    // vibration_z,
-                               1,       // clipping_0
-                               2,       // clipping_0
-                               3);      // clipping_0
+    mavlink_msg_vibration_pack_chan(_vehicleSystemId,
+                                    _vehicleComponentId,
+                                    mavlinkChannel(),
+                                    &msg,
+                                    0,       // time_usec
+                                    50.5,    // vibration_x,
+                                    10.5,    // vibration_y,
+                                    60.0,    // vibration_z,
+                                    1,       // clipping_0
+                                    2,       // clipping_0
+                                    3);      // clipping_0
 
     respondWithMavlinkMessage(msg);
 }
@@ -346,7 +348,7 @@ void MockLink::_handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes)
 
     for (qint64 i=0; i<cBytes; i++)
     {
-        if (!mavlink_parse_char(getMavlinkChannel(), bytes[i], &msg, &comm)) {
+        if (!mavlink_parse_char(mavlinkChannel(), bytes[i], &msg, &comm)) {
             continue;
         }
 
@@ -603,14 +605,15 @@ void MockLink::_paramRequestListWorker(void)
 
         qCDebug(MockLinkLog) << "Sending msg_param_value" << componentId << paramId << paramType << _mapParamName2Value[componentId][paramId];
 
-        mavlink_msg_param_value_pack(_vehicleSystemId,
-                                     componentId,                                   // component id
-                                     &responseMsg,                                  // Outgoing message
-                                     paramId,                                       // Parameter name
-                                     _floatUnionForParam(componentId, paramName),   // Parameter value
-                                     paramType,                                     // MAV_PARAM_TYPE
-                                     cParameters,                                   // Total number of parameters
-                                     _currentParamRequestListParamIndex);           // Index of this parameter
+        mavlink_msg_param_value_pack_chan(_vehicleSystemId,
+                                          componentId,                                   // component id
+                                          mavlinkChannel(),
+                                          &responseMsg,                                  // Outgoing message
+                                          paramId,                                       // Parameter name
+                                          _floatUnionForParam(componentId, paramName),   // Parameter value
+                                          paramType,                                     // MAV_PARAM_TYPE
+                                          cParameters,                                   // Total number of parameters
+                                          _currentParamRequestListParamIndex);           // Index of this parameter
         respondWithMavlinkMessage(responseMsg);
     }
 
@@ -650,14 +653,15 @@ void MockLink::_handleParamSet(const mavlink_message_t& msg)
 
     // Respond with a param_value to ack
     mavlink_message_t responseMsg;
-    mavlink_msg_param_value_pack(_vehicleSystemId,
-                                 componentId,                                               // component id
-                                 &responseMsg,                                              // Outgoing message
-                                 paramId,                                                   // Parameter name
-                                 request.param_value,                                       // Send same value back
-                                 request.param_type,                                        // Send same type back
-                                 _mapParamName2Value[componentId].count(),                  // Total number of parameters
-                                 _mapParamName2Value[componentId].keys().indexOf(paramId)); // Index of this parameter
+    mavlink_msg_param_value_pack_chan(_vehicleSystemId,
+                                      componentId,                                               // component id
+                                      mavlinkChannel(),
+                                      &responseMsg,                                              // Outgoing message
+                                      paramId,                                                   // Parameter name
+                                      request.param_value,                                       // Send same value back
+                                      request.param_type,                                        // Send same type back
+                                      _mapParamName2Value[componentId].count(),                  // Total number of parameters
+                                      _mapParamName2Value[componentId].keys().indexOf(paramId)); // Index of this parameter
     respondWithMavlinkMessage(responseMsg);
 }
 
@@ -676,14 +680,15 @@ void MockLink::_handleParamRequestRead(const mavlink_message_t& msg)
         valueUnion.type = MAV_PARAM_TYPE_UINT32;
         valueUnion.param_uint32 = 0;
         // Special case of magic hash check value
-        mavlink_msg_param_value_pack(_vehicleSystemId,
-                                     componentId,
-                                     &responseMsg,
-                                     request.param_id,
-                                     valueUnion.param_float,
-                                     MAV_PARAM_TYPE_UINT32,
-                                     0,
-                                     -1);
+        mavlink_msg_param_value_pack_chan(_vehicleSystemId,
+                                          componentId,
+                                          mavlinkChannel(),
+                                          &responseMsg,
+                                          request.param_id,
+                                          valueUnion.param_float,
+                                          MAV_PARAM_TYPE_UINT32,
+                                          0,
+                                          -1);
         respondWithMavlinkMessage(responseMsg);
         return;
     }
@@ -717,14 +722,15 @@ void MockLink::_handleParamRequestRead(const mavlink_message_t& msg)
         return;
     }
 
-    mavlink_msg_param_value_pack(_vehicleSystemId,
-                                 componentId,                                               // component id
-                                 &responseMsg,                                              // Outgoing message
-                                 paramId,                                                   // Parameter name
-                                 _floatUnionForParam(componentId, paramId),                 // Parameter value
-                                 _mapParamName2MavParamType[paramId],                       // Parameter type
-                                 _mapParamName2Value[componentId].count(),                  // Total number of parameters
-                                 _mapParamName2Value[componentId].keys().indexOf(paramId)); // Index of this parameter
+    mavlink_msg_param_value_pack_chan(_vehicleSystemId,
+                                      componentId,                                               // component id
+                                      mavlinkChannel(),
+                                      &responseMsg,                                              // Outgoing message
+                                      paramId,                                                   // Parameter name
+                                      _floatUnionForParam(componentId, paramId),                 // Parameter value
+                                      _mapParamName2MavParamType[paramId],                       // Parameter type
+                                      _mapParamName2Value[componentId].count(),                  // Total number of parameters
+                                      _mapParamName2Value[componentId].keys().indexOf(paramId)); // Index of this parameter
     respondWithMavlinkMessage(responseMsg);
 }
 
@@ -738,12 +744,13 @@ void MockLink::emitRemoteControlChannelRawChanged(int channel, uint16_t raw)
     chanRaw[channel] = raw;
 
     mavlink_message_t responseMsg;
-    mavlink_msg_rc_channels_pack(_vehicleSystemId,
-                                 _vehicleComponentId,
-                                 &responseMsg,          // Outgoing message
-                                 0,                     // time since boot, ignored
-                                 18,                    // channel count
-                                 chanRaw[0],            // channel raw value
+    mavlink_msg_rc_channels_pack_chan(_vehicleSystemId,
+                                      _vehicleComponentId,
+                                      mavlinkChannel(),
+                                      &responseMsg,          // Outgoing message
+                                      0,                     // time since boot, ignored
+                                      18,                    // channel count
+                                      chanRaw[0],            // channel raw value
             chanRaw[1],            // channel raw value
             chanRaw[2],            // channel raw value
             chanRaw[3],            // channel raw value
@@ -801,11 +808,12 @@ void MockLink::_handleCommandLong(const mavlink_message_t& msg)
     }
 
     mavlink_message_t commandAck;
-    mavlink_msg_command_ack_pack(_vehicleSystemId,
-                                 _vehicleComponentId,
-                                 &commandAck,
-                                 request.command,
-                                 commandResult);
+    mavlink_msg_command_ack_pack_chan(_vehicleSystemId,
+                                      _vehicleComponentId,
+                                      mavlinkChannel(),
+                                      &commandAck,
+                                      request.command,
+                                      commandResult);
     respondWithMavlinkMessage(commandAck);
 }
 
@@ -827,20 +835,21 @@ void MockLink::_respondWithAutopilotVersion(void)
         flightVersion |= FIRMWARE_VERSION_TYPE_DEV << (8*0);
     }
 
-    mavlink_msg_autopilot_version_pack(_vehicleSystemId,
-                                       _vehicleComponentId,
-                                       &msg,
-                                       0,                               // capabilities,
-                                       flightVersion,                   // flight_sw_version,
-                                       0,                               // middleware_sw_version,
-                                       0,                               // os_sw_version,
-                                       0,                               // board_version,
-                                       (uint8_t *)&customVersion,       // flight_custom_version,
-                                       (uint8_t *)&customVersion,       // middleware_custom_version,
-                                       (uint8_t *)&customVersion,       // os_custom_version,
-                                       0,                               // vendor_id,
-                                       0,                               // product_id,
-                                       0);                              // uid
+    mavlink_msg_autopilot_version_pack_chan(_vehicleSystemId,
+                                            _vehicleComponentId,
+                                            mavlinkChannel(),
+                                            &msg,
+                                            0,                               // capabilities,
+                                            flightVersion,                   // flight_sw_version,
+                                            0,                               // middleware_sw_version,
+                                            0,                               // os_sw_version,
+                                            0,                               // board_version,
+                                            (uint8_t *)&customVersion,       // flight_custom_version,
+                                            (uint8_t *)&customVersion,       // middleware_custom_version,
+                                            (uint8_t *)&customVersion,       // os_custom_version,
+                                            0,                               // vendor_id,
+                                            0,                               // product_id,
+                                            0);                              // uid
     respondWithMavlinkMessage(msg);
 }
 
@@ -859,14 +868,15 @@ void MockLink::_sendHomePosition(void)
     bogus[2] = 0.0f;
     bogus[3] = 0.0f;
 
-    mavlink_msg_home_position_pack(_vehicleSystemId,
-                                   _vehicleComponentId,
-                                   &msg,
-                                   (int32_t)(_vehicleLatitude * 1E7),
-                                   (int32_t)(_vehicleLongitude * 1E7),
-                                   (int32_t)(_vehicleAltitude * 1000),
-                                   0.0f, 0.0f, 0.0f,
-                                   &bogus[0],
+    mavlink_msg_home_position_pack_chan(_vehicleSystemId,
+                                        _vehicleComponentId,
+                                        mavlinkChannel(),
+                                        &msg,
+                                        (int32_t)(_vehicleLatitude * 1E7),
+                                        (int32_t)(_vehicleLongitude * 1E7),
+                                        (int32_t)(_vehicleAltitude * 1000),
+                                        0.0f, 0.0f, 0.0f,
+                                        &bogus[0],
             0.0f, 0.0f, 0.0f);
     respondWithMavlinkMessage(msg);
 }
@@ -876,18 +886,19 @@ void MockLink::_sendGpsRawInt(void)
     static uint64_t timeTick = 0;
     mavlink_message_t msg;
 
-    mavlink_msg_gps_raw_int_pack(_vehicleSystemId,
-                                 _vehicleComponentId,
-                                 &msg,
-                                 timeTick++,                            // time since boot
-                                 3,                                     // 3D fix
-                                 (int32_t)(_vehicleLatitude  * 1E7),
-                                 (int32_t)(_vehicleLongitude * 1E7),
-                                 (int32_t)(_vehicleAltitude  * 1000),
-                                 UINT16_MAX, UINT16_MAX,                // HDOP/VDOP not known
-                                 UINT16_MAX,                            // velocity not known
-                                 UINT16_MAX,                            // course over ground not known
-                                 8);                                    // satellite count
+    mavlink_msg_gps_raw_int_pack_chan(_vehicleSystemId,
+                                      _vehicleComponentId,
+                                      mavlinkChannel(),
+                                      &msg,
+                                      timeTick++,                            // time since boot
+                                      3,                                     // 3D fix
+                                      (int32_t)(_vehicleLatitude  * 1E7),
+                                      (int32_t)(_vehicleLongitude * 1E7),
+                                      (int32_t)(_vehicleAltitude  * 1000),
+                                      UINT16_MAX, UINT16_MAX,                // HDOP/VDOP not known
+                                      UINT16_MAX,                            // velocity not known
+                                      UINT16_MAX,                            // course over ground not known
+                                      8);                                    // satellite count
     respondWithMavlinkMessage(msg);
 }
 
@@ -914,11 +925,12 @@ void MockLink::_sendStatusTextMessages(void)
         mavlink_message_t msg;
         const struct StatusMessage* status = &rgMessages[i];
 
-        mavlink_msg_statustext_pack(_vehicleSystemId,
-                                    _vehicleComponentId,
-                                    &msg,
-                                    status->severity,
-                                    status->msg);
+        mavlink_msg_statustext_pack_chan(_vehicleSystemId,
+                                         _vehicleComponentId,
+                                         mavlinkChannel(),
+                                         &msg,
+                                         status->severity,
+                                         status->msg);
         respondWithMavlinkMessage(msg);
     }
 }
@@ -1065,21 +1077,22 @@ void MockLink::_sendRCChannels(void)
 {
     mavlink_message_t   msg;
 
-    mavlink_msg_rc_channels_pack(_vehicleSystemId,
-                                 _vehicleComponentId,
-                                 &msg,
-                                 0,                     // time_boot_ms
-                                 8,                     // chancount
-                                 1500,                  // chan1_raw
-                                 1500,                  // chan2_raw
-                                 1500,                  // chan3_raw
-                                 1500,                  // chan4_raw
-                                 1500,                  // chan5_raw
-                                 1500,                  // chan6_raw
-                                 1500,                  // chan7_raw
-                                 1500,                  // chan8_raw
-                                 UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX,
-                                 0);                    // rssi
+    mavlink_msg_rc_channels_pack_chan(_vehicleSystemId,
+                                      _vehicleComponentId,
+                                      mavlinkChannel(),
+                                      &msg,
+                                      0,                     // time_boot_ms
+                                      8,                     // chancount
+                                      1500,                  // chan1_raw
+                                      1500,                  // chan2_raw
+                                      1500,                  // chan3_raw
+                                      1500,                  // chan4_raw
+                                      1500,                  // chan5_raw
+                                      1500,                  // chan6_raw
+                                      1500,                  // chan7_raw
+                                      1500,                  // chan8_raw
+                                      UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX,
+                                      0);                    // rssi
 
     respondWithMavlinkMessage(msg);
 
@@ -1106,11 +1119,12 @@ void MockLink::_handlePreFlightCalibration(const mavlink_command_long_t& request
     }
 
     mavlink_message_t msg;
-    mavlink_msg_statustext_pack(_vehicleSystemId,
-                                _vehicleComponentId,
-                                &msg,
-                                MAV_SEVERITY_INFO,
-                                pCalMessage);
+    mavlink_msg_statustext_pack_chan(_vehicleSystemId,
+                                     _vehicleComponentId,
+                                     mavlinkChannel(),
+                                     &msg,
+                                     MAV_SEVERITY_INFO,
+                                     pCalMessage);
     respondWithMavlinkMessage(msg);
 }
 
@@ -1126,14 +1140,15 @@ void MockLink::_handleLogRequestList(const mavlink_message_t& msg)
     }
 
     mavlink_message_t responseMsg;
-    mavlink_msg_log_entry_pack(_vehicleSystemId,
-                               _vehicleComponentId,
-                               &responseMsg,
-                               _logDownloadLogId,       // log id
-                               1,                       // num_logs
-                               1,                       // last_log_num
-                               0,                       // time_utc
-                               _logDownloadFileSize);   // size
+    mavlink_msg_log_entry_pack_chan(_vehicleSystemId,
+                                    _vehicleComponentId,
+                                    mavlinkChannel(),
+                                    &responseMsg,
+                                    _logDownloadLogId,       // log id
+                                    1,                       // num_logs
+                                    1,                       // last_log_num
+                                    0,                       // time_utc
+                                    _logDownloadFileSize);   // size
     respondWithMavlinkMessage(responseMsg);
 }
 
@@ -1181,13 +1196,14 @@ void MockLink::_logDownloadWorker(void)
             qDebug() << "MockLink::_logDownloadWorker" << _logDownloadCurrentOffset << _logDownloadBytesRemaining;
 
             mavlink_message_t responseMsg;
-            mavlink_msg_log_data_pack(_vehicleSystemId,
-                                       _vehicleComponentId,
-                                       &responseMsg,
-                                       _logDownloadLogId,
-                                       _logDownloadCurrentOffset,
-                                       bytesToRead,
-                                       &buffer[0]);
+            mavlink_msg_log_data_pack_chan(_vehicleSystemId,
+                                           _vehicleComponentId,
+                                           mavlinkChannel(),
+                                           &responseMsg,
+                                           _logDownloadLogId,
+                                           _logDownloadCurrentOffset,
+                                           bytesToRead,
+                                           &buffer[0]);
             respondWithMavlinkMessage(responseMsg);
 
             _logDownloadCurrentOffset += bytesToRead;

src/comm/MockLinkFileServer.cc

@@ -365,13 +365,14 @@ void MockLinkFileServer::_sendResponse(uint8_t targetSystemId, uint8_t targetCom
     
     request->hdr.seqNumber = seqNumber;
     
-    mavlink_msg_file_transfer_protocol_pack(_systemIdServer,    // System ID
-                                            0,                  // Component ID
-                                            &mavlinkMessage,    // Mavlink Message to pack into
-                                            0,                  // Target network
-                                            targetSystemId,
-                                            targetComponentId,
-                                            (uint8_t*)request); // Payload
+    mavlink_msg_file_transfer_protocol_pack_chan(_systemIdServer,    // System ID
+                                                 0,                  // Component ID
+                                                 _mockLink->mavlinkChannel(),
+                                                 &mavlinkMessage,    // Mavlink Message to pack into
+                                                 0,                  // Target network
+                                                 targetSystemId,
+                                                 targetComponentId,
+                                                 (uint8_t*)request); // Payload
     
     _mockLink->respondWithMavlinkMessage(mavlinkMessage);
 }

src/comm/MockLinkMissionItemHandler.cc

@@ -96,12 +96,13 @@ void MockLinkMissionItemHandler::_handleMissionRequestList(const mavlink_message
         
         mavlink_message_t   responseMsg;
         
-        mavlink_msg_mission_count_pack(_mockLink->vehicleId(),
-                                       MAV_COMP_ID_MISSIONPLANNER,
-                                       &responseMsg,            // Outgoing message
-                                       msg.sysid,               // Target is original sender
-                                       msg.compid,              // Target is original sender
-                                       itemCount);              // Number of mission items
+        mavlink_msg_mission_count_pack_chan(_mockLink->vehicleId(),
+                                            MAV_COMP_ID_MISSIONPLANNER,
+                                            _mockLink->mavlinkChannel(),
+                                            &responseMsg,            // Outgoing message
+                                            msg.sysid,               // Target is original sender
+                                            msg.compid,              // Target is original sender
+                                            itemCount);              // Number of mission items
         _mockLink->respondWithMavlinkMessage(responseMsg);
     } else {
         qCDebug(MockLinkMissionItemHandlerLog) << "_handleMissionRequestList not responding due to failure mode";
@@ -149,18 +150,19 @@ void MockLinkMissionItemHandler::_handleMissionRequest(const mavlink_message_t&
                 item = _missionItems[request.seq];
             }
             
-            mavlink_msg_mission_item_pack(_mockLink->vehicleId(),
-                                          MAV_COMP_ID_MISSIONPLANNER,
-                                          &responseMsg,            // Outgoing message
-                                          msg.sysid,               // Target is original sender
-                                          msg.compid,              // Target is original sender
-                                          request.seq,             // Index of mission item being sent
-                                          item.frame,
-                                          item.command,
-                                          item.current,
-                                          item.autocontinue,
-                                          item.param1, item.param2, item.param3, item.param4,
-                                          item.x, item.y, item.z);
+            mavlink_msg_mission_item_pack_chan(_mockLink->vehicleId(),
+                                               MAV_COMP_ID_MISSIONPLANNER,
+                                               _mockLink->mavlinkChannel(),
+                                               &responseMsg,            // Outgoing message
+                                               msg.sysid,               // Target is original sender
+                                               msg.compid,              // Target is original sender
+                                               request.seq,             // Index of mission item being sent
+                                               item.frame,
+                                               item.command,
+                                               item.current,
+                                               item.autocontinue,
+                                               item.param1, item.param2, item.param3, item.param4,
+                                               item.x, item.y, item.z);
             _mockLink->respondWithMavlinkMessage(responseMsg);
         }
     }
@@ -218,7 +220,11 @@ void MockLinkMissionItemHandler::_requestNextMissionItem(int sequenceNumber)
             missionRequest.target_component =   _mavlinkProtocol->getComponentId();
             missionRequest.seq =                sequenceNumber;
             
-            mavlink_msg_mission_request_encode(_mockLink->vehicleId(), MAV_COMP_ID_MISSIONPLANNER, &message, &missionRequest);
+            mavlink_msg_mission_request_encode_chan(_mockLink->vehicleId(),
+                                                    MAV_COMP_ID_MISSIONPLANNER,
+                                                    _mockLink->mavlinkChannel(),
+                                                    &message,
+                                                    &missionRequest);
             _mockLink->respondWithMavlinkMessage(message);
 
             // If response with Mission Item doesn't come before timer fires it's an error
@@ -238,7 +244,11 @@ void MockLinkMissionItemHandler::_sendAck(MAV_MISSION_RESULT ackType)
     missionAck.target_component =   _mavlinkProtocol->getComponentId();
     missionAck.type =               ackType;
     
-    mavlink_msg_mission_ack_encode(_mockLink->vehicleId(), MAV_COMP_ID_MISSIONPLANNER, &message, &missionAck);
+    mavlink_msg_mission_ack_encode_chan(_mockLink->vehicleId(),
+                                        MAV_COMP_ID_MISSIONPLANNER,
+                                        _mockLink->mavlinkChannel(),
+                                        &message,
+                                        &missionAck);
     _mockLink->respondWithMavlinkMessage(message);
 }
 

src/uas/FileManager.cc

@@ -731,15 +731,23 @@ void FileManager::_sendRequest(Request* request)
     if (_systemIdQGC == 0) {
         _systemIdQGC = qgcApp()->toolbox()->mavlinkProtocol()->getSystemId();
     }
+
+    // Unit testing code can end up here without _dedicateLink set since it tests inidividual commands.
+    LinkInterface* link;
+    if (_dedicatedLink) {
+        link = _dedicatedLink;
+    } else {
+        link = _vehicle->priorityLink();
+    }
     
-    Q_ASSERT(_vehicle);
-    mavlink_msg_file_transfer_protocol_pack(_systemIdQGC,       // QGC System ID
-                                            0,                  // QGC Component ID
-                                            &message,           // Mavlink Message to pack into
-                                            0,                  // Target network
-                                            _systemIdServer,    // Target system
-                                            0,                  // Target component
-                                            (uint8_t*)request); // Payload
+    mavlink_msg_file_transfer_protocol_pack_chan(_systemIdQGC,       // QGC System ID
+                                                 0,                  // QGC Component ID
+                                                 link->mavlinkChannel(),
+                                                 &message,           // Mavlink Message to pack into
+                                                 0,                  // Target network
+                                                 _systemIdServer,    // Target system
+                                                 0,                  // Target component
+                                                 (uint8_t*)request); // Payload
     
-    _vehicle->sendMessageOnLink(_dedicatedLink, message);
+    _vehicle->sendMessageOnLink(link, message);
 }

src/uas/UAS.cc

@@ -798,21 +798,22 @@ void UAS::startCalibration(UASInterface::StartCalibrationType calType)
     }
 
     mavlink_message_t msg;
-    mavlink_msg_command_long_pack(mavlink->getSystemId(),
-                                  mavlink->getComponentId(),
-                                  &msg,
-                                  uasId,
-                                  _vehicle->defaultComponentId(),   // target component
-                                  MAV_CMD_PREFLIGHT_CALIBRATION,    // command id
-                                  0,                                // 0=first transmission of command
-                                  gyroCal,                          // gyro cal
-                                  magCal,                           // mag cal
-                                  0,                                // ground pressure
-                                  radioCal,                         // radio cal
-                                  accelCal,                         // accel cal
-                                  airspeedCal,                      // PX4: airspeed cal, ArduPilot: compass mot
-                                  escCal);                          // esc cal
-    _vehicle->sendMessageOnPriorityLink(msg);
+    mavlink_msg_command_long_pack_chan(mavlink->getSystemId(),
+                                       mavlink->getComponentId(),
+                                       _vehicle->priorityLink()->mavlinkChannel(),
+                                       &msg,
+                                       uasId,
+                                       _vehicle->defaultComponentId(),   // target component
+                                       MAV_CMD_PREFLIGHT_CALIBRATION,    // command id
+                                       0,                                // 0=first transmission of command
+                                       gyroCal,                          // gyro cal
+                                       magCal,                           // mag cal
+                                       0,                                // ground pressure
+                                       radioCal,                         // radio cal
+                                       accelCal,                         // accel cal
+                                       airspeedCal,                      // PX4: airspeed cal, ArduPilot: compass mot
+                                       escCal);                          // esc cal
+    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 }
 
 void UAS::stopCalibration(void)
@@ -822,21 +823,22 @@ void UAS::stopCalibration(void)
     }
 
     mavlink_message_t msg;
-    mavlink_msg_command_long_pack(mavlink->getSystemId(),
-                                  mavlink->getComponentId(),
-                                  &msg,
-                                  uasId,
-                                  _vehicle->defaultComponentId(),   // target component
-                                  MAV_CMD_PREFLIGHT_CALIBRATION,    // command id
-                                  0,                                // 0=first transmission of command
-                                  0,                                // gyro cal
-                                  0,                                // mag cal
-                                  0,                                // ground pressure
-                                  0,                                // radio cal
-                                  0,                                // accel cal
-                                  0,                                // airspeed cal
-                                  0);                               // unused
-    _vehicle->sendMessageOnPriorityLink(msg);
+    mavlink_msg_command_long_pack_chan(mavlink->getSystemId(),
+                                       mavlink->getComponentId(),
+                                       _vehicle->priorityLink()->mavlinkChannel(),
+                                       &msg,
+                                       uasId,
+                                       _vehicle->defaultComponentId(),   // target component
+                                       MAV_CMD_PREFLIGHT_CALIBRATION,    // command id
+                                       0,                                // 0=first transmission of command
+                                       0,                                // gyro cal
+                                       0,                                // mag cal
+                                       0,                                // ground pressure
+                                       0,                                // radio cal
+                                       0,                                // accel cal
+                                       0,                                // airspeed cal
+                                       0);                               // unused
+    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 }
 
 void UAS::startBusConfig(UASInterface::StartBusConfigType calType)
@@ -857,21 +859,22 @@ void UAS::startBusConfig(UASInterface::StartBusConfigType calType)
     }
 
     mavlink_message_t msg;
-    mavlink_msg_command_long_pack(mavlink->getSystemId(),
-                                  mavlink->getComponentId(),
-                                  &msg,
-                                  uasId,
-                                  _vehicle->defaultComponentId(),   // target component
-                                  MAV_CMD_PREFLIGHT_UAVCAN,         // command id
-                                  0,                                // 0=first transmission of command
-                                  actuatorCal,                      // actuators
-                                  0,
-                                  0,
-                                  0,
-                                  0,
-                                  0,
-                                  0);
-    _vehicle->sendMessageOnPriorityLink(msg);
+    mavlink_msg_command_long_pack_chan(mavlink->getSystemId(),
+                                       mavlink->getComponentId(),
+                                       _vehicle->priorityLink()->mavlinkChannel(),
+                                       &msg,
+                                       uasId,
+                                       _vehicle->defaultComponentId(),   // target component
+                                       MAV_CMD_PREFLIGHT_UAVCAN,         // command id
+                                       0,                                // 0=first transmission of command
+                                       actuatorCal,                      // actuators
+                                       0,
+                                       0,
+                                       0,
+                                       0,
+                                       0,
+                                       0);
+    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 }
 
 void UAS::stopBusConfig(void)
@@ -881,21 +884,22 @@ void UAS::stopBusConfig(void)
     }
 
     mavlink_message_t msg;
-    mavlink_msg_command_long_pack(mavlink->getSystemId(),
-                                  mavlink->getComponentId(),
-                                  &msg,
-                                  uasId,
-                                  _vehicle->defaultComponentId(),   // target component
-                                  MAV_CMD_PREFLIGHT_UAVCAN,         // command id
-                                  0,                                // 0=first transmission of command
-                                  0,
-                                  0,
-                                  0,
-                                  0,
-                                  0,
-                                  0,
-                                  0);
-    _vehicle->sendMessageOnPriorityLink(msg);
+    mavlink_msg_command_long_pack_chan(mavlink->getSystemId(),
+                                       mavlink->getComponentId(),
+                                       _vehicle->priorityLink()->mavlinkChannel(),
+                                       &msg,
+                                       uasId,
+                                       _vehicle->defaultComponentId(),   // target component
+                                       MAV_CMD_PREFLIGHT_UAVCAN,         // command id
+                                       0,                                // 0=first transmission of command
+                                       0,
+                                       0,
+                                       0,
+                                       0,
+                                       0,
+                                       0,
+                                       0);
+    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 }
 
 /**
@@ -1144,8 +1148,13 @@ void UAS::requestImage()
     if (imagePacketsArrived == 0)
     {
         mavlink_message_t msg;
-        mavlink_msg_data_transmission_handshake_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, MAVLINK_DATA_STREAM_IMG_JPEG, 0, 0, 0, 0, 0, 50);
-        _vehicle->sendMessageOnPriorityLink(msg);
+        mavlink_msg_data_transmission_handshake_pack_chan(mavlink->getSystemId(),
+                                                          mavlink->getComponentId(),
+                                                          _vehicle->priorityLink()->mavlinkChannel(),
+                                                          &msg,
+                                                          MAVLINK_DATA_STREAM_IMG_JPEG,
+                                                          0, 0, 0, 0, 0, 50);
+        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
     }
 }
 
@@ -1243,8 +1252,12 @@ void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float
     cmd.param7 = param7;
     cmd.target_system = uasId;
     cmd.target_component = component;
-    mavlink_msg_command_long_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);
-    _vehicle->sendMessageOnPriorityLink(msg);
+    mavlink_msg_command_long_encode_chan(mavlink->getSystemId(),
+                                         mavlink->getComponentId(),
+                                         _vehicle->priorityLink()->mavlinkChannel(),
+                                         &msg,
+                                         &cmd);
+    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 }
 
 /**
@@ -1299,19 +1312,19 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
             float attitudeQuaternion[4];
             mavlink_euler_to_quaternion(roll, pitch, yaw, attitudeQuaternion);
             uint8_t typeMask = 0x7; // disable rate control
-            mavlink_msg_set_attitude_target_pack(mavlink->getSystemId(),
-                mavlink->getComponentId(),
-                &message,
-                QGC::groundTimeUsecs(),
-                this->uasId,
-                0,
-                typeMask,
-                attitudeQuaternion,
-                0,
-                0,
-                0,
-                thrust
-                );
+            mavlink_msg_set_attitude_target_pack_chan(mavlink->getSystemId(),
+                                                      mavlink->getComponentId(),
+                                                      _vehicle->priorityLink()->mavlinkChannel(),
+                                                      &message,
+                                                      QGC::groundTimeUsecs(),
+                                                      this->uasId,
+                                                      0,
+                                                      typeMask,
+                                                      attitudeQuaternion,
+                                                      0,
+                                                      0,
+                                                      0,
+                                                      thrust);
         } else if (joystickMode == Vehicle::JoystickModePosition) {
             // Send the the local position setpoint (local pos sp external message)
             static float px = 0;
@@ -1322,26 +1335,26 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
             py += roll;
             pz -= 2.0f*(thrust-0.5);
             uint16_t typeMask = (1<<11)|(7<<6)|(7<<3); // select only POSITION control
-            mavlink_msg_set_position_target_local_ned_pack(mavlink->getSystemId(),
-                    mavlink->getComponentId(),
-                    &message,
-                    QGC::groundTimeUsecs(),
-                    this->uasId,
-                    0,
-                    MAV_FRAME_LOCAL_NED,
-                    typeMask,
-                    px,
-                    py,
-                    pz,
-                    0,
-                    0,
-                    0,
-                    0,
-                    0,
-                    0,
-                    yaw,
-                    0
-                    );
+            mavlink_msg_set_position_target_local_ned_pack_chan(mavlink->getSystemId(),
+                                                                mavlink->getComponentId(),
+                                                                _vehicle->priorityLink()->mavlinkChannel(),
+                                                                &message,
+                                                                QGC::groundTimeUsecs(),
+                                                                this->uasId,
+                                                                0,
+                                                                MAV_FRAME_LOCAL_NED,
+                                                                typeMask,
+                                                                px,
+                                                                py,
+                                                                pz,
+                                                                0,
+                                                                0,
+                                                                0,
+                                                                0,
+                                                                0,
+                                                                0,
+                                                                yaw,
+                                                                0);
         } else if (joystickMode == Vehicle::JoystickModeForce) {
             // Send the the force setpoint (local pos sp external message)
             float dcm[3][3];
@@ -1350,26 +1363,26 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
             const float fy = -dcm[1][2] * thrust;
             const float fz = -dcm[2][2] * thrust;
             uint16_t typeMask = (3<<10)|(7<<3)|(7<<0)|(1<<9); // select only FORCE control (disable everything else)
-            mavlink_msg_set_position_target_local_ned_pack(mavlink->getSystemId(),
-                    mavlink->getComponentId(),
-                    &message,
-                    QGC::groundTimeUsecs(),
-                    this->uasId,
-                    0,
-                    MAV_FRAME_LOCAL_NED,
-                    typeMask,
-                    0,
-                    0,
-                    0,
-                    0,
-                    0,
-                    0,
-                    fx,
-                    fy,
-                    fz,
-                    0,
-                    0
-                    );
+            mavlink_msg_set_position_target_local_ned_pack_chan(mavlink->getSystemId(),
+                                                                mavlink->getComponentId(),
+                                                                _vehicle->priorityLink()->mavlinkChannel(),
+                                                                &message,
+                                                                QGC::groundTimeUsecs(),
+                                                                this->uasId,
+                                                                0,
+                                                                MAV_FRAME_LOCAL_NED,
+                                                                typeMask,
+                                                                0,
+                                                                0,
+                                                                0,
+                                                                0,
+                                                                0,
+                                                                0,
+                                                                fx,
+                                                                fy,
+                                                                fz,
+                                                                0,
+                                                                0);
         } else if (joystickMode == Vehicle::JoystickModeVelocity) {
             // Send the the local velocity setpoint (local pos sp external message)
             static float vx = 0;
@@ -1382,26 +1395,26 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
             vz -= 2.0f*(thrust-0.5);
             yawrate += yaw; //XXX: not sure what scale to apply here
             uint16_t typeMask = (1<<10)|(7<<6)|(7<<0); // select only VELOCITY control
-            mavlink_msg_set_position_target_local_ned_pack(mavlink->getSystemId(),
-                    mavlink->getComponentId(),
-                    &message,
-                    QGC::groundTimeUsecs(),
-                    this->uasId,
-                    0,
-                    MAV_FRAME_LOCAL_NED,
-                    typeMask,
-                    0,
-                    0,
-                    0,
-                    vx,
-                    vy,
-                    vz,
-                    0,
-                    0,
-                    0,
-                    0,
-                    yawrate
-                    );
+            mavlink_msg_set_position_target_local_ned_pack_chan(mavlink->getSystemId(),
+                                                                mavlink->getComponentId(),
+                                                                _vehicle->priorityLink()->mavlinkChannel(),
+                                                                &message,
+                                                                QGC::groundTimeUsecs(),
+                                                                this->uasId,
+                                                                0,
+                                                                MAV_FRAME_LOCAL_NED,
+                                                                typeMask,
+                                                                0,
+                                                                0,
+                                                                0,
+                                                                vx,
+                                                                vy,
+                                                                vz,
+                                                                0,
+                                                                0,
+                                                                0,
+                                                                0,
+                                                                yawrate);
         } else if (joystickMode == Vehicle::JoystickModeRC) {
 
             // Save the new manual control inputs
@@ -1424,10 +1437,15 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
             //qDebug() << newRollCommand << newPitchCommand << newYawCommand << newThrustCommand;
 
             // Send the MANUAL_COMMAND message
-            mavlink_msg_manual_control_pack(mavlink->getSystemId(), mavlink->getComponentId(), &message, this->uasId, newPitchCommand, newRollCommand, newThrustCommand, newYawCommand, buttons);
+            mavlink_msg_manual_control_pack_chan(mavlink->getSystemId(),
+                                                 mavlink->getComponentId(),
+                                                 _vehicle->priorityLink()->mavlinkChannel(),
+                                                 &message,
+                                                 this->uasId,
+                                                 newPitchCommand, newRollCommand, newThrustCommand, newYawCommand, buttons);
         }
 
-        _vehicle->sendMessageOnPriorityLink(message);
+        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), message);
         // Emit an update in control values to other UI elements, like the HSI display
         emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, QGC::groundTimeMilliseconds());
     }
@@ -1453,16 +1471,20 @@ void UAS::setManual6DOFControlCommands(double x, double y, double z, double roll
         // Do not control rates and throttle
         quint8 mask = (1 << 0) | (1 << 1) | (1 << 2); // ignore rates
         mask |= (1 << 6); // ignore throttle
-        mavlink_msg_set_attitude_target_pack(mavlink->getSystemId(), mavlink->getComponentId(),
-                                             &message, QGC::groundTimeMilliseconds(), this->uasId, _vehicle->defaultComponentId(),
-                                             mask, q, 0, 0, 0, 0);
-        _vehicle->sendMessageOnPriorityLink(message);
+        mavlink_msg_set_attitude_target_pack_chan(mavlink->getSystemId(),
+                                                  mavlink->getComponentId(),
+                                                  _vehicle->priorityLink()->mavlinkChannel(),
+                                                  &message,
+                                                  QGC::groundTimeMilliseconds(), this->uasId, _vehicle->defaultComponentId(),
+                                                  mask, q, 0, 0, 0, 0);
+        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), message);
         quint16 position_mask = (1 << 3) | (1 << 4) | (1 << 5) |
             (1 << 6) | (1 << 7) | (1 << 8);
-        mavlink_msg_set_position_target_local_ned_pack(mavlink->getSystemId(), mavlink->getComponentId(),
-                                                       &message, QGC::groundTimeMilliseconds(), this->uasId, _vehicle->defaultComponentId(),
-                                                       MAV_FRAME_LOCAL_NED, position_mask, x, y, z, 0, 0, 0, 0, 0, 0, yaw, yawrate);
-        _vehicle->sendMessageOnPriorityLink(message);
+        mavlink_msg_set_position_target_local_ned_pack_chan(mavlink->getSystemId(), mavlink->getComponentId(),
+                                                            _vehicle->priorityLink()->mavlinkChannel(),
+                                                            &message, QGC::groundTimeMilliseconds(), this->uasId, _vehicle->defaultComponentId(),
+                                                            MAV_FRAME_LOCAL_NED, position_mask, x, y, z, 0, 0, 0, 0, 0, 0, yaw, yawrate);
+        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), message);
         qDebug() << __FILE__ << __LINE__ << ": SENT 6DOF CONTROL MESSAGES: x" << x << " y: " << y << " z: " << z << " roll: " << roll << " pitch: " << pitch << " yaw: " << yaw;
 
         //emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, QGC::groundTimeMilliseconds());
@@ -1485,8 +1507,14 @@ void UAS::pairRX(int rxType, int rxSubType)
 
     mavlink_message_t msg;
 
-    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, _vehicle->defaultComponentId(), MAV_CMD_START_RX_PAIR, 0, rxType, rxSubType, 0, 0, 0, 0, 0);
-    _vehicle->sendMessageOnPriorityLink(msg);
+    mavlink_msg_command_long_pack_chan(mavlink->getSystemId(),
+                                       mavlink->getComponentId(),
+                                       _vehicle->priorityLink()->mavlinkChannel(),
+                                       &msg,
+                                       uasId,
+                                       _vehicle->defaultComponentId(),
+                                       MAV_CMD_START_RX_PAIR, 0, rxType, rxSubType, 0, 0, 0, 0, 0);
+    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 }
 
 /**
@@ -1706,10 +1734,13 @@ void UAS::sendHilState(quint64 time_us, float roll, float pitch, float yaw, floa
                 sinPhi_2 * sinTheta_2 * cosPsi_2);
 
         mavlink_message_t msg;
-        mavlink_msg_hil_state_quaternion_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg,
-                                   time_us, q, rollspeed, pitchspeed, yawspeed,
-                                   lat*1e7f, lon*1e7f, alt*1000, vx*100, vy*100, vz*100, ind_airspeed*100, true_airspeed*100, xacc*1000/9.81, yacc*1000/9.81, zacc*1000/9.81);
-        _vehicle->sendMessageOnPriorityLink(msg);
+        mavlink_msg_hil_state_quaternion_pack_chan(mavlink->getSystemId(),
+                                                   mavlink->getComponentId(),
+                                                   _vehicle->priorityLink()->mavlinkChannel(),
+                                                   &msg,
+                                                   time_us, q, rollspeed, pitchspeed, yawspeed,
+                                                   lat*1e7f, lon*1e7f, alt*1000, vx*100, vy*100, vz*100, ind_airspeed*100, true_airspeed*100, xacc*1000/9.81, yacc*1000/9.81, zacc*1000/9.81);
+        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
     }
     else
     {
@@ -1783,11 +1814,14 @@ void UAS::sendHilSensors(quint64 time_us, float xacc, float yacc, float zacc, fl
         float temperature_corrupt = addZeroMeanNoise(temperature,temperature_var);
 
         mavlink_message_t msg;
-        mavlink_msg_hil_sensor_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg,
-                                   time_us, xacc_corrupt, yacc_corrupt, zacc_corrupt, rollspeed_corrupt, pitchspeed_corrupt,
-                                    yawspeed_corrupt, xmag_corrupt, ymag_corrupt, zmag_corrupt, abs_pressure_corrupt,
-                                    diff_pressure_corrupt, pressure_alt_corrupt, temperature_corrupt, fields_changed);
-        _vehicle->sendMessageOnPriorityLink(msg);
+        mavlink_msg_hil_sensor_pack_chan(mavlink->getSystemId(),
+                                         mavlink->getComponentId(),
+                                         _vehicle->priorityLink()->mavlinkChannel(),
+                                         &msg,
+                                         time_us, xacc_corrupt, yacc_corrupt, zacc_corrupt, rollspeed_corrupt, pitchspeed_corrupt,
+                                         yawspeed_corrupt, xmag_corrupt, ymag_corrupt, zmag_corrupt, abs_pressure_corrupt,
+                                         diff_pressure_corrupt, pressure_alt_corrupt, temperature_corrupt, fields_changed);
+        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
         lastSendTimeSensors = QGC::groundTimeMilliseconds();
     }
     else
@@ -1821,10 +1855,13 @@ void UAS::sendHilOpticalFlow(quint64 time_us, qint16 flow_x, qint16 flow_y, floa
     {
 #if 0
         mavlink_message_t msg;
-        mavlink_msg_hil_optical_flow_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg,
-                                   time_us, 0, 0 /* hack */, flow_x, flow_y, 0.0f /* hack */, 0.0f /* hack */, 0.0f /* hack */, 0 /* hack */, quality, ground_distance);
+        mavlink_msg_hil_optical_flow_pack_chan(mavlink->getSystemId(),
+                                               mavlink->getComponentId(),
+                                               _vehicle->priorityLink()->mavlinkChannel(),
+                                               &msg,
+                                               time_us, 0, 0 /* hack */, flow_x, flow_y, 0.0f /* hack */, 0.0f /* hack */, 0.0f /* hack */, 0 /* hack */, quality, ground_distance);
 
-        _vehicle->sendMessageOnPriorityLink(msg);
+        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
         lastSendTimeOpticalFlow = QGC::groundTimeMilliseconds();
 #endif
     }
@@ -1859,10 +1896,13 @@ void UAS::sendHilGps(quint64 time_us, double lat, double lon, double alt, int fi
         course = (course / M_PI) * 180.0f;
 
         mavlink_message_t msg;
-        mavlink_msg_hil_gps_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg,
-                                   time_us, fix_type, lat*1e7, lon*1e7, alt*1e3, eph*1e2, epv*1e2, vel*1e2, vn*1e2, ve*1e2, vd*1e2, course*1e2, satellites);
+        mavlink_msg_hil_gps_pack_chan(mavlink->getSystemId(),
+                                      mavlink->getComponentId(),
+                                      _vehicle->priorityLink()->mavlinkChannel(),
+                                      &msg,
+                                      time_us, fix_type, lat*1e7, lon*1e7, alt*1e3, eph*1e2, epv*1e2, vel*1e2, vn*1e2, ve*1e2, vd*1e2, course*1e2, satellites);
         lastSendTimeGPS = QGC::groundTimeMilliseconds();
-        _vehicle->sendMessageOnPriorityLink(msg);
+        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
     }
     else
     {
@@ -1931,19 +1971,20 @@ void UAS::sendMapRCToParam(QString param_id, float scale, float value0, quint8 p
         }
     }
 
-    mavlink_msg_param_map_rc_pack(mavlink->getSystemId(),
-                                  mavlink->getComponentId(),
-                                  &message,
-                                  this->uasId,
-                                  _vehicle->defaultComponentId(),
-                                  param_id_cstr,
-                                  -1,
-                                  param_rc_channel_index,
-                                  value0,
-                                  scale,
-                                  valueMin,
-                                  valueMax);
-    _vehicle->sendMessageOnPriorityLink(message);
+    mavlink_msg_param_map_rc_pack_chan(mavlink->getSystemId(),
+                                       mavlink->getComponentId(),
+                                       _vehicle->priorityLink()->mavlinkChannel(),
+                                       &message,
+                                       this->uasId,
+                                       _vehicle->defaultComponentId(),
+                                       param_id_cstr,
+                                       -1,
+                                       param_rc_channel_index,
+                                       value0,
+                                       scale,
+                                       valueMin,
+                                       valueMax);
+    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), message);
     //qDebug() << "Mavlink message sent";
 }
 
@@ -1957,19 +1998,20 @@ void UAS::unsetRCToParameterMap()
 
     for (int i = 0; i < 3; i++) {
         mavlink_message_t message;
-        mavlink_msg_param_map_rc_pack(mavlink->getSystemId(),
-                                      mavlink->getComponentId(),
-                                      &message,
-                                      this->uasId,
-                                      _vehicle->defaultComponentId(),
-                                      param_id_cstr,
-                                      -2,
-                                      i,
-                                      0.0f,
-                                      0.0f,
-                                      0.0f,
-                                      0.0f);
-        _vehicle->sendMessageOnPriorityLink(message);
+        mavlink_msg_param_map_rc_pack_chan(mavlink->getSystemId(),
+                                           mavlink->getComponentId(),
+                                           _vehicle->priorityLink()->mavlinkChannel(),
+                                           &message,
+                                           this->uasId,
+                                           _vehicle->defaultComponentId(),
+                                           param_id_cstr,
+                                           -2,
+                                           i,
+                                           0.0f,
+                                           0.0f,
+                                           0.0f,
+                                           0.0f);
+        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), message);
     }
 }
 

src/ui/QGCMAVLinkInspector.cc

@@ -37,16 +37,6 @@ QGCMAVLinkInspector::QGCMAVLinkInspector(const QString& title, QAction* action,
     header << tr("Type");
     ui->treeWidget->setHeaderLabels(header);
 
-    // Set up the column headers for the rate listing
-    QStringList rateHeader;
-    rateHeader << tr("Name");
-    rateHeader << tr("#ID");
-    rateHeader << tr("Rate");
-    ui->rateTreeWidget->setHeaderLabels(rateHeader);
-    connect(ui->rateTreeWidget, &QTreeWidget::itemChanged,
-            this, &QGCMAVLinkInspector::rateTreeItemChanged);
-    ui->rateTreeWidget->hide();
-
     // Connect the UI
     connect(ui->systemComboBox, static_cast<void (QComboBox::*)(int)>(&QComboBox::currentIndexChanged),
             this, &QGCMAVLinkInspector::selectDropDownMenuSystem);
@@ -78,23 +68,11 @@ void QGCMAVLinkInspector::selectDropDownMenuSystem(int dropdownid)
 {
     selectedSystemID = ui->systemComboBox->itemData(dropdownid).toInt();
     rebuildComponentList();
-
-    if (selectedSystemID != 0 && selectedComponentID != 0) {
-        ui->rateTreeWidget->show();
-    } else {
-        ui->rateTreeWidget->hide();
-    }
 }
 
 void QGCMAVLinkInspector::selectDropDownMenuComponent(int dropdownid)
 {
     selectedComponentID = ui->componentComboBox->itemData(dropdownid).toInt();
-
-    if (selectedSystemID != 0 && selectedComponentID != 0) {
-        ui->rateTreeWidget->show();
-    } else {
-        ui->rateTreeWidget->hide();
-    }
 }
 
 void QGCMAVLinkInspector::rebuildComponentList()
@@ -195,8 +173,6 @@ void QGCMAVLinkInspector::clearView()
     onboardMessageInterval.clear();
 
     ui->treeWidget->clear();
-    ui->rateTreeWidget->clear();
-
 }
 
 void QGCMAVLinkInspector::refreshView()
@@ -311,25 +287,6 @@ void QGCMAVLinkInspector::refreshView()
         if (!strcmp(msgname, "EMPTY")) {
             continue;
         }
-
-        // Update the tree view
-        QString messageName("%1");
-        messageName = messageName.arg(msgname);
-        if (!rateTreeWidgetItems.contains(i))
-        {
-            QStringList fields;
-            fields << messageName;
-            fields << QString("%1").arg(i);
-            fields << "OFF / --- Hz";
-            QTreeWidgetItem* widget = new QTreeWidgetItem(fields);
-            widget->setFlags(widget->flags() | Qt::ItemIsEditable);
-            rateTreeWidgetItems.insert(i, widget);
-            ui->rateTreeWidget->addTopLevelItem(widget);
-        }
-
-        // Set Hz
-        //QTreeWidgetItem* message = rateTreeWidgetItems.value(i);
-        //message->setData(0, Qt::DisplayRole, QVariant(messageName));
     }
 }
 
@@ -476,43 +433,6 @@ void QGCMAVLinkInspector::receiveMessage(LinkInterface* link,mavlink_message_t m
     }
 }
 
-void QGCMAVLinkInspector::changeStreamInterval(int msgid, int interval)
-{
-    //REQUEST_DATA_STREAM
-    if (selectedSystemID == 0 || selectedComponentID == 0) {
-        return;
-    }
-
-    mavlink_request_data_stream_t stream;
-    stream.target_system = selectedSystemID;
-    stream.target_component = selectedComponentID;
-    stream.req_stream_id = msgid;
-    stream.req_message_rate = interval;
-    stream.start_stop = (interval > 0);
-
-    mavlink_message_t msg;
-    mavlink_msg_request_data_stream_encode(_protocol->getSystemId(), _protocol->getComponentId(), &msg, &stream);
-
-#if 0
-    // FIXME: Is this really used?
-    _protocol->sendMessage(msg);
-#endif
-}
-
-void QGCMAVLinkInspector::rateTreeItemChanged(QTreeWidgetItem* paramItem, int column)
-{
-    if (paramItem && column > 0) {
-
-        int key = paramItem->data(1, Qt::DisplayRole).toInt();
-        QVariant value = paramItem->data(2, Qt::DisplayRole);
-        float interval = 1000 / value.toFloat();
-
-        qDebug() << "Stream " << key << "interval" << interval;
-
-        changeStreamInterval(key, interval);
-    }
-}
-
 QGCMAVLinkInspector::~QGCMAVLinkInspector()
 {
     clearView();

src/ui/QGCMAVLinkInspector.h

@@ -36,8 +36,6 @@ public slots:
     /** @Brief Select a component through the drop down menu */
     void selectDropDownMenuComponent(int dropdownid);
 
-    void rateTreeItemChanged(QTreeWidgetItem* paramItem, int column);
-
 protected:
     MAVLinkProtocol *_protocol;     ///< MAVLink instance
     int selectedSystemID;          ///< Currently selected system
@@ -45,7 +43,6 @@ protected:
     QMap<int, int> systems;     ///< Already observed systems
     QMap<int, int> components; ///< Already observed components
     QMap<int, float> onboardMessageInterval; ///< Stores the onboard selected data rate
-    QMap<int, QTreeWidgetItem*> rateTreeWidgetItems; ///< Available rate tree widget items
     QTimer updateTimer; ///< Only update at 1 Hz to not overload the GUI
     mavlink_message_info_t messageInfo[256]; // Store the metadata for all available MAVLink messages.
 
@@ -63,8 +60,6 @@ protected:
     void updateField(int sysid, int msgid, int fieldid, QTreeWidgetItem* item);
     /** @brief Rebuild the list of components */
     void rebuildComponentList();
-    /** @brief Change the stream interval */
-    void changeStreamInterval(int msgid, int interval);
     /* @brief Create a new tree for a new UAS */
     void addUAStoTree(int sysId);
 

src/ui/QGCMAVLinkInspector.ui

@@ -13,7 +13,7 @@
   <property name="windowTitle">
    <string>MAVLink Inspector</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" columnstretch="2,8,2,8,3">
+  <layout class="QGridLayout" name="gridLayout" columnstretch="2,0,0,0,0">
    <property name="leftMargin">
     <number>6</number>
    </property>
@@ -26,13 +26,25 @@
    <property name="bottomMargin">
     <number>6</number>
    </property>
-   <item row="0" column="4">
-    <widget class="QPushButton" name="clearButton">
+   <item row="0" column="0">
+    <widget class="QLabel" name="label">
+     <property name="maximumSize">
+      <size>
+       <width>100</width>
+       <height>16777215</height>
+      </size>
+     </property>
      <property name="text">
-      <string>Clear</string>
+      <string>System</string>
      </property>
     </widget>
    </item>
+   <item row="0" column="1">
+    <widget class="QComboBox" name="systemComboBox"/>
+   </item>
+   <item row="0" column="3">
+    <widget class="QComboBox" name="componentComboBox"/>
+   </item>
    <item row="0" column="2">
     <widget class="QLabel" name="label_2">
      <property name="text">
@@ -40,10 +52,10 @@
      </property>
     </widget>
    </item>
-   <item row="0" column="0">
-    <widget class="QLabel" name="label">
+   <item row="0" column="4">
+    <widget class="QPushButton" name="clearButton">
      <property name="text">
-      <string>System</string>
+      <string>Clear</string>
      </property>
     </widget>
    </item>
@@ -56,21 +68,6 @@
      </column>
     </widget>
    </item>
-   <item row="3" column="0" colspan="5">
-    <widget class="QTreeWidget" name="rateTreeWidget">
-     <column>
-      <property name="text">
-       <string notr="true">1</string>
-      </property>
-     </column>
-    </widget>
-   </item>
-   <item row="0" column="1">
-    <widget class="QComboBox" name="systemComboBox"/>
-   </item>
-   <item row="0" column="3">
-    <widget class="QComboBox" name="componentComboBox"/>
-   </item>
   </layout>
  </widget>
  <resources/>

src/ui/preferences/MavlinkSettings.qml

@@ -69,15 +69,6 @@ Rectangle {
                 }
             }
             //-----------------------------------------------------------------
-            //-- Mavlink Multiplexing
-            QGCCheckBox {
-                text:       qsTr("Enable multiplexing (forward packets to all other links)")
-                checked:    QGroundControl.isMultiplexingEnabled
-                onClicked: {
-                    QGroundControl.isMultiplexingEnabled = checked
-                }
-            }
-            //-----------------------------------------------------------------
             //-- Mavlink Version Check
             QGCCheckBox {
                 text:       qsTr("Only accept MAVs with same protocol version")