Add ArduSub XML file and update firmware plugin to allow it to work

qgcresources.qrc

@@ -175,7 +175,7 @@
         <file alias="TrashDelete.svg">resources/TrashDelete.svg</file>
         <file alias="XDelete.svg">resources/XDelete.svg</file>
         <file alias="XDeleteBlack.svg">resources/XDeleteBlack.svg</file>
-</qresource>
+    </qresource>
     <qresource prefix="/res/firmware">
         <file alias="px4.png">resources/firmware/px4.png</file>
         <file alias="apm.png">resources/firmware/apm.png</file>
@@ -266,6 +266,7 @@
         <file alias="APMParameterFactMetaData.Copter.3.3.xml">src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml</file>
         <file alias="APMParameterFactMetaData.Copter.3.4.xml">src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.4.xml</file>
         <file alias="APMParameterFactMetaData.Rover.3.0.xml">src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml</file>
+        <file alias="APMParameterFactMetaData.Sub.3.4.xml">src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml</file>
     </qresource>
     <qresource prefix="/FirmwarePlugin/PX4">
         <file alias="PX4ParameterFactMetaData.xml">src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml</file>

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -37,18 +37,20 @@ static const QRegExp APM_COPTER_REXP("^(ArduCopter|APM:Copter)");
 static const QRegExp APM_SOLO_REXP("^(APM:Copter solo-)");
 static const QRegExp APM_PLANE_REXP("^(ArduPlane|APM:Plane)");
 static const QRegExp APM_ROVER_REXP("^(ArduRover|APM:Rover)");
+static const QRegExp APM_SUB_REXP("^(ArduSub|APM:Sub)");
 static const QRegExp APM_PX4NUTTX_REXP("^PX4: .*NuttX: .*");
 static const QRegExp APM_FRAME_REXP("^Frame: ");
 static const QRegExp APM_SYSID_REXP("^PX4v2 ");
 
 // Regex to parse version text coming from APM, gives out firmware type, major, minor and patch level numbers
-static const QRegExp VERSION_REXP("^(APM:Copter|APM:Plane|APM:Rover|ArduCopter|ArduPlane|ArduRover) +[vV](\\d*)\\.*(\\d*)*\\.*(\\d*)*");
+static const QRegExp VERSION_REXP("^(APM:Copter|APM:Plane|APM:Rover|APM:Sub|ArduCopter|ArduPlane|ArduRover|ArduSub) +[vV](\\d*)\\.*(\\d*)*\\.*(\\d*)*");
 
 // minimum firmware versions that don't suffer from mavlink severity inversion bug.
 // https://github.com/diydrones/apm_planner/issues/788
 static const QString MIN_SOLO_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Copter solo-1.2.0");
 static const QString MIN_COPTER_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Copter V3.4.0");
 static const QString MIN_PLANE_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Plane V3.4.0");
+static const QString MIN_SUB_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Sub V3.4.0");
 static const QString MIN_ROVER_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Rover V2.6.0");
 
 const char* APMFirmwarePlugin::_artooIP =                   "10.1.1.1"; ///< IP address of ARTOO controller
@@ -319,7 +321,7 @@ bool APMFirmwarePlugin::_handleStatusText(Vehicle* vehicle, mavlink_message_t* m
 
         if (!messageText.contains(APM_SOLO_REXP)) {
             // if don't know firmwareVersion yet, try and see if this message contains it
-            if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP)) {
+            if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP) || messageText.contains(APM_SUB_REXP)) {
                 // found version string
                 APMFirmwareVersion firmwareVersion(messageText);
                 _textSeverityAdjustmentNeeded = _isTextSeverityAdjustmentNeeded(firmwareVersion);
@@ -376,7 +378,7 @@ bool APMFirmwarePlugin::_handleStatusText(Vehicle* vehicle, mavlink_message_t* m
 
     // The following messages are incorrectly labeled as warning message.
     // Fixed in newer firmware (unreleased at this point), but still in older firmware.
-    if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP) ||
+    if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP) || messageText.contains(APM_SUB_REXP) ||
             messageText.contains(APM_PX4NUTTX_REXP) || messageText.contains(APM_FRAME_REXP) || messageText.contains(APM_SYSID_REXP)) {
         _setInfoSeverity(message);
     }
@@ -491,6 +493,10 @@ bool APMFirmwarePlugin::_isTextSeverityAdjustmentNeeded(const APMFirmwareVersion
         if (firmwareVersion < APMFirmwareVersion(MIN_ROVER_VERSION_WITH_CORRECT_SEVERITY_MSGS)) {
             adjustmentNeeded = true;
         }
+    } else if (firmwareVersion.vehicleType().contains(APM_SUB_REXP)) {
+        if (firmwareVersion < APMFirmwareVersion(MIN_SUB_VERSION_WITH_CORRECT_SEVERITY_MSGS)) {
+            adjustmentNeeded = true;
+        }
     }
 
     return adjustmentNeeded;
@@ -654,8 +660,9 @@ QString APMFirmwarePlugin::getParameterMetaDataFile(Vehicle* vehicle)
         }
     case MAV_TYPE_GROUND_ROVER:
     case MAV_TYPE_SURFACE_BOAT:
-    case MAV_TYPE_SUBMARINE:
         return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml");
+    case MAV_TYPE_SUBMARINE:
+        return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml");
     default:
         return QString();
     }

src/FirmwarePlugin/APM/APMParameterMetaData.cc

@@ -86,7 +86,6 @@ QString APMParameterMetaData::mavTypeToString(MAV_TYPE vehicleTypeEnum)
         case MAV_TYPE_QUADROTOR:
         case MAV_TYPE_COAXIAL:
         case MAV_TYPE_HELICOPTER:
-        case MAV_TYPE_SUBMARINE:
         case MAV_TYPE_HEXAROTOR:
         case MAV_TYPE_OCTOROTOR:
         case MAV_TYPE_TRICOPTER:
@@ -104,6 +103,9 @@ QString APMParameterMetaData::mavTypeToString(MAV_TYPE vehicleTypeEnum)
         case MAV_TYPE_SURFACE_BOAT:
             vehicleName = "ArduRover";
             break;
+        case MAV_TYPE_SUBMARINE:
+            vehicleName = "ArduSub";
+            break;
         case MAV_TYPE_FLAPPING_WING:
         case MAV_TYPE_KITE:
         case MAV_TYPE_ONBOARD_CONTROLLER:
@@ -129,7 +131,7 @@ void APMParameterMetaData::loadParameterFactMetaDataFile(const QString& metaData
     }
     _parameterMetaDataLoaded = true;
 
-    QRegExp parameterCategories = QRegExp("ArduCopter|ArduPlane|APMrover2|AntennaTracker");
+    QRegExp parameterCategories = QRegExp("ArduCopter|ArduPlane|APMrover2|ArduSub|AntennaTracker");
     QString currentCategory;
 
     qCDebug(APMParameterMetaDataLog) << "Loading parameter meta data:" << metaDataFile;