Do not configure the port if talking to PX4 units (since USB does not know...

Do not configure the port if talking to PX4 units (since USB does not know anything about baud rate)

src/comm/SerialLink.cc

@@ -137,8 +137,35 @@ void SerialLink::writeSettings()
  **/
 void SerialLink::run()
 {
+
+    QString description = "X";
+    foreach (QSerialPortInfo info,QSerialPortInfo::availablePorts())
+    {
+        qDebug() << m_portName << "portname == info" << info.portName();
+        if (m_portName == info.portName())
+        {
+            description = info.description();
+            break;
+        }
+    }
+    if (description.toLower().contains("mega") && description.contains("2560"))
+    {
+        type = "apm";
+        qDebug() << "Attempting connection to an APM, with description:" << description;
+    }
+    else if (description.toLower().contains("px4"))
+    {
+        type = "px4";
+        qDebug() << "Attempting connection to a PX4 unit with description:" << description;
+    }
+    else
+    {
+        type = "other";
+        qDebug() << "Attempting connection to something unknown with description:" << description;
+    }
+
     // Initialize the connection
-    if (!hardwareConnect()) {
+    if (!hardwareConnect(type)) {
         //Need to error out here.
         emit communicationError(getName(),"Error connecting: " + m_port->errorString());
         disconnect(); // This tidies up and sends the necessary signals
@@ -395,7 +422,7 @@ bool SerialLink::connect()
  * @return True if the connection could be established, false otherwise
  * @see connect() For the right function to establish the connection.
  **/
-bool SerialLink::hardwareConnect()
+bool SerialLink::hardwareConnect(QString &type)
 {
     if(m_port) {
         qDebug() << "SerialLink:" << QString::number((long)this, 16) << "closing port";
@@ -425,11 +452,13 @@ bool SerialLink::hardwareConnect()
     emit communicationUpdate(getName(),"Opened port!");
 
     // Need to configure the port
-    m_port->setBaudRate(m_baud);
-    m_port->setDataBits(static_cast<QSerialPort::DataBits>(m_dataBits));
-    m_port->setFlowControl(static_cast<QSerialPort::FlowControl>(m_flowControl));
-    m_port->setStopBits(static_cast<QSerialPort::StopBits>(m_stopBits));
-    m_port->setParity(static_cast<QSerialPort::Parity>(m_parity));
+    if (type != "px4") {
+        m_port->setBaudRate(m_baud);
+        m_port->setDataBits(static_cast<QSerialPort::DataBits>(m_dataBits));
+        m_port->setFlowControl(static_cast<QSerialPort::FlowControl>(m_flowControl));
+        m_port->setStopBits(static_cast<QSerialPort::StopBits>(m_stopBits));
+        m_port->setParity(static_cast<QSerialPort::Parity>(m_parity));
+    }
 
     emit connected();
     emit connected(true);

src/comm/SerialLink.h

@@ -154,6 +154,7 @@ protected:
     QMutex m_dataMutex;       // Mutex for reading data from m_port
     QMutex m_writeMutex;      // Mutex for accessing the m_transmitBuffer.
     QList<QString> m_ports;
+    QString type;
 
 private:
     volatile bool m_stopp;
@@ -161,7 +162,7 @@ private:
     QMutex m_stoppMutex; // Mutex for accessing m_stopp
     QByteArray m_transmitBuffer; // An internal buffer for receiving data from member functions and actually transmitting them via the serial port.
 
-    bool hardwareConnect();
+    bool hardwareConnect(QString &type);
 
 signals:
     void aboutToCloseFlag();