From cbaa538cf8bf52c8952ff3dccde793c231e8da33 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 16 Mar 2014 23:40:26 +0100
Subject: [PATCH] Do not configure the port if talking to PX4 units (since USB
 does not know anything about baud rate)

---
 src/comm/SerialLink.cc | 43 +++++++++++++++++++++++++++++++++++-------
 src/comm/SerialLink.h  |  3 ++-
 2 files changed, 38 insertions(+), 8 deletions(-)

diff --git a/src/comm/SerialLink.cc b/src/comm/SerialLink.cc
index cf92e8f34..f36aca452 100644
--- a/src/comm/SerialLink.cc
+++ b/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);
diff --git a/src/comm/SerialLink.h b/src/comm/SerialLink.h
index 4effbfc9b..0194c0342 100644
--- a/src/comm/SerialLink.h
+++ b/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();
-- 
2.22.0