Mavlink 2.0 support

No signing support yet

QGCExternalLibs.pri

@@ -17,7 +17,7 @@ WindowsBuild {
 # a single compiled codebase this hardwiring of dialect can go away. But until then
 # this "workaround" is needed.
 
-MAVLINKPATH_REL = libs/mavlink/include/mavlink/v1.0
+MAVLINKPATH_REL = libs/mavlink/include/mavlink/v2.0
 MAVLINKPATH = $$BASEDIR/$$MAVLINKPATH_REL
 MAVLINK_CONF = ardupilotmega
 DEFINES += MAVLINK_NO_DATA

v2.0 @ 36f37bde

-Subproject commit 1ae7a11de2d17ee620edf71a9d7342e601eec347
+Subproject commit 36f37bde1df2dd36661fbcbd6ed5aaf0424c8269

src/comm/LinkManager.cc

@@ -191,6 +191,8 @@ void LinkManager::_addLink(LinkInterface* link)
             if (!(_mavlinkChannelsUsedBitMask & 1 << i)) {
                 mavlink_reset_channel_status(i);
                 link->_setMavlinkChannel(i);
+                // Start the channel on Mav 1 protocol
+                mavlink_get_channel_status(i)->flags = mavlink_get_channel_status(i)->flags | MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
                 _mavlinkChannelsUsedBitMask |= 1 << i;
                 channelSet = true;
                 break;

src/comm/MAVLinkProtocol.cc

@@ -214,6 +214,15 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
         {
             decodedFirstPacket = true;
 
+            mavlink_status_t* mavlinkStatus = mavlink_get_channel_status(mavlinkChannel);
+            if (!(mavlinkStatus->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) && (mavlinkStatus->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1)) {
+                qDebug() << "switch to mavlink 2.0" << mavlinkStatus->flags;
+                mavlinkStatus->flags &= ~MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
+            } else if ((mavlinkStatus->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) && !(mavlinkStatus->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1)) {
+                qDebug() << "switch to mavlink 1.0" << mavlinkStatus->flags;
+                mavlinkStatus->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
+            }
+
             if(message.msgid == MAVLINK_MSG_ID_RADIO_STATUS)
             {
                 // process telemetry status message

src/ui/MAVLinkDecoder.h

@@ -26,7 +26,6 @@ protected:
     quint64 getUnixTimeFromMs(int systemID, quint64 time);
 
     mavlink_message_t receivedMessages[256]; ///< Available / known messages
-    mavlink_message_info_t messageInfo[256]; ///< Message information
     QMap<uint16_t, bool> messageFilter;               ///< Message/field names not to emit
     QMap<uint16_t, bool> textMessageFilter;           ///< Message/field names not to emit in text mode
     int componentID[256];                             ///< Multi component detection

src/ui/QGCMAVLinkInspector.h

@@ -44,7 +44,6 @@ protected:
     QMap<int, int> components; ///< Already observed components
     QMap<int, float> onboardMessageInterval; ///< Stores the onboard selected data rate
     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.
 
     QMap<int, QTreeWidgetItem* > uasTreeWidgetItems; ///< Tree of available uas with their widget
     QMap<int, QMap<int, QTreeWidgetItem*>* > uasMsgTreeItems; ///< Stores the widget of the received message for each UAS
@@ -57,7 +56,7 @@ protected:
     QMap<int, QMap<int, quint64>* > uasLastMessageUpdate; ///< Stores the time of the last message for each message of each UAS
 
     /* @brief Update one message field */
-    void updateField(int sysid, int msgid, int fieldid, QTreeWidgetItem* item);
+    void updateField(mavlink_message_t* msg, const mavlink_message_info_t* msgInfo, int fieldid, QTreeWidgetItem* item);
     /** @brief Rebuild the list of components */
     void rebuildComponentList();
     /* @brief Create a new tree for a new UAS */