From b5d40d3c7e53767d6a57f6b7e652b5720b7c8c9d Mon Sep 17 00:00:00 2001
From: Don Gagne <dongagne@outlook.com>
Date: Fri, 30 Nov 2018 12:26:49 -0800
Subject: [PATCH] ArduPilot option to not start mavlink streams

---
 src/FirmwarePlugin/APM/APMFirmwarePlugin.cc |  8 ++++++--
 src/Settings/App.SettingsGroup.json         |  6 ++++++
 src/Settings/AppSettings.cc                 |  1 +
 src/Settings/AppSettings.h                  |  3 +++
 src/ui/preferences/MavlinkSettings.qml      | 12 ++++++++----
 5 files changed, 24 insertions(+), 6 deletions(-)

diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
index 94c0545cf..3cf164b01 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
@@ -17,6 +17,8 @@
 #include "MissionManager.h"
 #include "ParameterManager.h"
 #include "QGCFileDownload.h"
+#include "SettingsManager.h"
+#include "AppSettings.h"
 
 #include <QTcpSocket>
 
@@ -641,8 +643,10 @@ void APMFirmwarePlugin::initializeVehicle(Vehicle* vehicle)
             break;
         }
     } else {
-        // Streams are not started automatically on APM stack
-        initializeStreamRates(vehicle);
+        if (qgcApp()->toolbox()->settingsManager()->appSettings()->apmStartMavlinkStreams()->rawValue().toBool()) {
+            // Streams are not started automatically on APM stack (sort of)
+            initializeStreamRates(vehicle);
+        }
     }
 }
 
diff --git a/src/Settings/App.SettingsGroup.json b/src/Settings/App.SettingsGroup.json
index 7daaa6217..928ca9168 100644
--- a/src/Settings/App.SettingsGroup.json
+++ b/src/Settings/App.SettingsGroup.json
@@ -199,5 +199,11 @@
     "enumStrings":      "Never,Always,When in Follow Me Flight Mode",
     "enumValues":       "0,1,2",
     "defaultValue":     0
+},
+{
+    "name":             "apmStartMavlinkStreams",
+    "shortDescription": "Request start of MAVLink telemetry streams (ArduPilot only)",
+    "type":             "bool",
+    "defaultValue":     true
 }
 ]
diff --git a/src/Settings/AppSettings.cc b/src/Settings/AppSettings.cc
index e4209c16b..f8d005738 100644
--- a/src/Settings/AppSettings.cc
+++ b/src/Settings/AppSettings.cc
@@ -84,6 +84,7 @@ DECLARE_SETTINGSFACT(AppSettings, esriToken)
 DECLARE_SETTINGSFACT(AppSettings, defaultFirmwareType)
 DECLARE_SETTINGSFACT(AppSettings, gstDebugLevel)
 DECLARE_SETTINGSFACT(AppSettings, followTarget)
+DECLARE_SETTINGSFACT(AppSettings, apmStartMavlinkStreams)
 
 DECLARE_SETTINGSFACT_NO_FUNC(AppSettings, indoorPalette)
 {
diff --git a/src/Settings/AppSettings.h b/src/Settings/AppSettings.h
index 584ce819d..46e9a61e3 100644
--- a/src/Settings/AppSettings.h
+++ b/src/Settings/AppSettings.h
@@ -44,6 +44,9 @@ public:
     DEFINE_SETTINGFACT(gstDebugLevel)
     DEFINE_SETTINGFACT(followTarget)
 
+    // Although this is a global setting it only affects ArduPilot vehicle since PX4 automatically starts the stream from the vehicle side
+    DEFINE_SETTINGFACT(apmStartMavlinkStreams)
+
     Q_PROPERTY(QString missionSavePath      READ missionSavePath    NOTIFY savePathsChanged)
     Q_PROPERTY(QString parameterSavePath    READ parameterSavePath  NOTIFY savePathsChanged)
     Q_PROPERTY(QString telemetrySavePath    READ telemetrySavePath  NOTIFY savePathsChanged)
diff --git a/src/ui/preferences/MavlinkSettings.qml b/src/ui/preferences/MavlinkSettings.qml
index 5e33a0849..ac4a8d468 100644
--- a/src/ui/preferences/MavlinkSettings.qml
+++ b/src/ui/preferences/MavlinkSettings.qml
@@ -15,6 +15,7 @@ import QtQuick.Dialogs          1.2
 
 import QGroundControl                       1.0
 import QGroundControl.FactSystem            1.0
+import QGroundControl.FactControls          1.0
 import QGroundControl.Controls              1.0
 import QGroundControl.ScreenTools           1.0
 import QGroundControl.MultiVehicleManager   1.0
@@ -132,8 +133,7 @@ Rectangle {
                             }
                         }
                     }
-                    //-----------------------------------------------------------------
-                    //-- Mavlink Heartbeats
+
                     QGCCheckBox {
                         text:       qsTr("Emit heartbeat")
                         checked:    QGroundControl.multiVehicleManager.gcsHeartBeatEnabled
@@ -141,8 +141,12 @@ Rectangle {
                             QGroundControl.multiVehicleManager.gcsHeartBeatEnabled = checked
                         }
                     }
-                    //-----------------------------------------------------------------
-                    //-- Mavlink Version Check
+
+                    FactCheckBox {
+                        text:   fact.shortDescription
+                        fact:   QGroundControl.settingsManager.appSettings.apmStartMavlinkStreams
+                    }
+
                     QGCCheckBox {
                         text:       qsTr("Only accept MAVs with same protocol version")
                         checked:    QGroundControl.isVersionCheckEnabled
-- 
2.22.0