From c6486f560ea6fd7cec7e5ce5e9032577c5ac36e0 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Fri, 15 Jan 2016 20:24:10 -0800
Subject: [PATCH] APM 3.2 support

---
 .../APM/APMFlightModesComponent.qml                | 14 ++++++++------
 src/AutoPilotPlugins/APM/APMTuningComponent.cc     |  5 ++++-
 src/FirmwarePlugin/APM/APMFirmwarePlugin.cc        |  4 ++--
 3 files changed, 14 insertions(+), 9 deletions(-)

diff --git a/src/AutoPilotPlugins/APM/APMFlightModesComponent.qml b/src/AutoPilotPlugins/APM/APMFlightModesComponent.qml
index e6ad1414e..e21b7d6d7 100644
--- a/src/AutoPilotPlugins/APM/APMFlightModesComponent.qml
+++ b/src/AutoPilotPlugins/APM/APMFlightModesComponent.qml
@@ -35,8 +35,10 @@ QGCView {
     id:         rootQGCView
     viewPanel:  panel
 
-    property real _margins: ScreenTools.defaultFontPixelHeight
-    property bool _channelOptionsAvailable: controller.parameterExists(-1, "CH7_OPT")   // Not available in all firmware types
+    property real   _margins:                   ScreenTools.defaultFontPixelHeight
+    property bool   _channel7OptionsAvailable:  controller.parameterExists(-1, "CH7_OPT")   // Not available in all firmware types
+    property bool   _channel9OptionsAvailable:  controller.parameterExists(-1, "CH9_OPT")   // Not available in all firmware types
+    property int    _channelOptionCount:         _channel7OptionsAvailable ? (_channel9OptionsAvailable ? 6 : 2) : 0
 
     QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
 
@@ -117,7 +119,7 @@ QGCView {
                 anchors.left:       flightModeSettings.right
                 text:               "Channel Options"
                 font.weight:        Font.DemiBold
-                visible:            _channelOptionsAvailable
+                visible:            _channelOptionCount != 0
             }
 
             Rectangle {
@@ -128,7 +130,7 @@ QGCView {
                 width:              channelOptColumn.width + (_margins * 2)
                 height:             channelOptColumn.height + ScreenTools.defaultFontPixelHeight
                 color:              qgcPal.windowShade
-                visible:            _channelOptionsAvailable
+                visible:            _channelOptionCount != 0
 
                 Column {
                     id:                 channelOptColumn
@@ -138,7 +140,7 @@ QGCView {
                     spacing:            ScreenTools.defaultFontPixelHeight
 
                     Repeater {
-                        model: 6
+                        model: _channelOptionCount
 
                         Row {
                             spacing: ScreenTools.defaultFontPixelWidth
@@ -155,7 +157,7 @@ QGCView {
                             FactComboBox {
                                 id:         optCombo
                                 width:      ScreenTools.defaultFontPixelWidth * 15
-                                fact:       _channelOptionsAvailable ? controller.getParameterFact(-1, "CH" + index + "_OPT") : nullFact
+                                fact:       controller.getParameterFact(-1, "CH" + index + "_OPT")
                                 indexModel: false
                             }
                         }
diff --git a/src/AutoPilotPlugins/APM/APMTuningComponent.cc b/src/AutoPilotPlugins/APM/APMTuningComponent.cc
index 5ee5f0459..f066d2f7b 100644
--- a/src/AutoPilotPlugins/APM/APMTuningComponent.cc
+++ b/src/AutoPilotPlugins/APM/APMTuningComponent.cc
@@ -72,7 +72,10 @@ QUrl APMTuningComponent::setupSource(void) const
         case MAV_TYPE_HEXAROTOR:
         case MAV_TYPE_OCTOROTOR:
         case MAV_TYPE_TRICOPTER:
-            qmlFile = "qrc:/qml/APMTuningComponentCopter.qml";
+            // Older firmwares do not have CH9_OPT, we don't support Tuning on older firmwares
+            if (_autopilot->parameterExists(-1, "CH9_OPT")) {
+                qmlFile = "qrc:/qml/APMTuningComponentCopter.qml";
+            }
             break;
         default:
             // No tuning panel
diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
index 90556a352..16deec949 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
@@ -320,7 +320,7 @@ void APMFirmwarePlugin::adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t
                         switch (vehicle->vehicleType()) {
                         case MAV_TYPE_FIXED_WING:
                             supportedMajorNumber = 3;
-                            supportedMinorNumber = 4;
+                            supportedMinorNumber = 2;
                             break;
                         case MAV_TYPE_QUADROTOR:
                         case MAV_TYPE_COAXIAL:
@@ -330,7 +330,7 @@ void APMFirmwarePlugin::adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t
                         case MAV_TYPE_OCTOROTOR:
                         case MAV_TYPE_TRICOPTER:
                             supportedMajorNumber = 3;
-                            supportedMinorNumber = 3;
+                            supportedMinorNumber = 2;
                             break;
                         default:
                             break;
-- 
2.22.0