qgroundcontrol.pro

@@ -596,6 +596,7 @@ HEADERS += \
     src/QmlControls/RCChannelMonitorController.h \
     src/QmlControls/ScreenToolsController.h \
     src/QtLocationPlugin/QMLControl/QGCMapEngineManager.h \
+    src/Settings/APMMavlinkStreamRateSettings.h \
     src/Settings/AppSettings.h \
     src/Settings/AutoConnectSettings.h \
     src/Settings/BrandImageSettings.h \
@@ -799,6 +800,7 @@ SOURCES += \
     src/QmlControls/RCChannelMonitorController.cc \
     src/QmlControls/ScreenToolsController.cc \
     src/QtLocationPlugin/QMLControl/QGCMapEngineManager.cc \
+    src/Settings/APMMavlinkStreamRateSettings.cc \
     src/Settings/AppSettings.cc \
     src/Settings/AutoConnectSettings.cc \
     src/Settings/BrandImageSettings.cc \

qgroundcontrol.qrc

@@ -210,6 +210,7 @@
         <file alias="VirtualJoystick.qml">src/FlightDisplay/VirtualJoystick.qml</file>
     </qresource>
     <qresource prefix="/json">
+		<file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>
         <file alias="CameraCalc.FactMetaData.json">src/MissionManager/CameraCalc.FactMetaData.json</file>
         <file alias="CameraSpec.FactMetaData.json">src/MissionManager/CameraSpec.FactMetaData.json</file>
         <file alias="CorridorScan.SettingsGroup.json">src/MissionManager/CorridorScan.SettingsGroup.json</file>

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -19,6 +19,7 @@
 #include "QGCFileDownload.h"
 #include "SettingsManager.h"
 #include "AppSettings.h"
+#include "APMMavlinkStreamRateSettings.h"
 
 #include <QTcpSocket>
 
@@ -614,13 +615,30 @@ void APMFirmwarePlugin::_adjustCalibrationMessageSeverity(mavlink_message_t* mes
 
 void APMFirmwarePlugin::initializeStreamRates(Vehicle* vehicle)
 {
-    vehicle->requestDataStream(MAV_DATA_STREAM_RAW_SENSORS,     2);
-    vehicle->requestDataStream(MAV_DATA_STREAM_EXTENDED_STATUS, 2);
-    vehicle->requestDataStream(MAV_DATA_STREAM_RC_CHANNELS,     2);
-    vehicle->requestDataStream(MAV_DATA_STREAM_POSITION,        3);
-    vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA1,          10);
-    vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA2,          10);
-    vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA3,          3);
+    APMMavlinkStreamRateSettings* streamRates = qgcApp()->toolbox()->settingsManager()->apmMavlinkStreamRateSettings();
+
+    struct StreamInfo_s {
+        MAV_DATA_STREAM mavStream;
+        int             streamRate;
+    };
+
+    StreamInfo_s rgStreamInfo[] = {
+        { MAV_DATA_STREAM_RAW_SENSORS,      streamRates->streamRateRawSensors()->rawValue().toInt() },
+        { MAV_DATA_STREAM_EXTENDED_STATUS,  streamRates->streamRateExtendedStatus()->rawValue().toInt() },
+        { MAV_DATA_STREAM_RC_CHANNELS,      streamRates->streamRateRCChannels()->rawValue().toInt() },
+        { MAV_DATA_STREAM_POSITION,         streamRates->streamRatePosition()->rawValue().toInt() },
+        { MAV_DATA_STREAM_EXTRA1,           streamRates->streamRateExtra1()->rawValue().toInt() },
+        { MAV_DATA_STREAM_EXTRA2,           streamRates->streamRateExtra2()->rawValue().toInt() },
+        { MAV_DATA_STREAM_EXTRA3,           streamRates->streamRateExtra3()->rawValue().toInt() },
+    };
+
+    for (size_t i=0; i<sizeof(rgStreamInfo)/sizeof(rgStreamInfo[0]); i++) {
+        const StreamInfo_s& streamInfo = rgStreamInfo[i];
+
+        if (streamInfo.streamRate >= 0) {
+            vehicle->requestDataStream(streamInfo.mavStream, static_cast<uint16_t>(streamInfo.streamRate));
+        }
+    }
 }
 
 
@@ -733,22 +751,16 @@ QString APMFirmwarePlugin::missionCommandOverrides(MAV_TYPE vehicleType) const
     switch (vehicleType) {
     case MAV_TYPE_GENERIC:
         return QStringLiteral(":/json/APM/MavCmdInfoCommon.json");
-        break;
     case MAV_TYPE_FIXED_WING:
         return QStringLiteral(":/json/APM/MavCmdInfoFixedWing.json");
-        break;
     case MAV_TYPE_QUADROTOR:
         return QStringLiteral(":/json/APM/MavCmdInfoMultiRotor.json");
-        break;
     case MAV_TYPE_VTOL_QUADROTOR:
         return QStringLiteral(":/json/APM/MavCmdInfoVTOL.json");
-        break;
     case MAV_TYPE_SUBMARINE:
         return QStringLiteral(":/json/APM/MavCmdInfoSub.json");
-        break;
     case MAV_TYPE_GROUND_ROVER:
         return QStringLiteral(":/json/APM/MavCmdInfoRover.json");
-        break;
     default:
         qWarning() << "APMFirmwarePlugin::missionCommandOverrides called with bad MAV_TYPE:" << vehicleType;
         return QString();

src/QmlControls/QGroundControlQmlGlobal.cc

@@ -178,6 +178,15 @@ int QGroundControlQmlGlobal::supportedFirmwareCount()
     return _firmwarePluginManager->supportedFirmwareTypes().count();
 }
 
+bool QGroundControlQmlGlobal::px4ProFirmwareSupported()
+{
+    return _firmwarePluginManager->supportedFirmwareTypes().contains(MAV_AUTOPILOT_PX4);
+}
+
+bool QGroundControlQmlGlobal::apmFirmwareSupported()
+{
+    return _firmwarePluginManager->supportedFirmwareTypes().contains(MAV_AUTOPILOT_ARDUPILOTMEGA);
+}
 
 bool QGroundControlQmlGlobal::linesIntersect(QPointF line1A, QPointF line1B, QPointF line2A, QPointF line2B)
 {

src/QmlControls/QGroundControlQmlGlobal.h

@@ -70,6 +70,8 @@ public:
     Q_PROPERTY(bool                 taisyncSupported    READ taisyncSupported       CONSTANT)
 
     Q_PROPERTY(int      supportedFirmwareCount          READ supportedFirmwareCount CONSTANT)
+    Q_PROPERTY(bool     px4ProFirmwareSupported         READ px4ProFirmwareSupported CONSTANT)
+    Q_PROPERTY(int      apmFirmwareSupported            READ apmFirmwareSupported CONSTANT)
 
     Q_PROPERTY(qreal zOrderTopMost              READ zOrderTopMost              CONSTANT) ///< z order for top most items, toolbar, main window sub view
     Q_PROPERTY(qreal zOrderWidgets              READ zOrderWidgets              CONSTANT) ///< z order value to widgets, for example: zoom controls, hud widgetss
@@ -180,6 +182,8 @@ public:
     int     mavlinkSystemID         () { return _toolbox->mavlinkProtocol()->getSystemId(); }
 
     int     supportedFirmwareCount  ();
+    bool    px4ProFirmwareSupported ();
+    bool    apmFirmwareSupported    ();
     bool    skipSetupPage           () { return _skipSetupPage; }
     void    setSkipSetupPage        (bool skip);
 

src/Settings/APMMavlinkStreamRate.SettingsGroup.json

+{
+    "QGC.MetaData.Defines": {
+        "StreamRateEnumStrings":    "Controlled By Vehicle,0 hz,1 hz,2 hz,3 hz,4 hz,5 hz,6 hz,7 hz,8 hz,9 hz,10 hz,50 hz,100 hz",
+        "StreamRateEnumValues":     "-1,0,1,2,3,4,5,6,7,8,9,10,50,100"
+    },
+    "QGC.MetaData.Facts": [
+        {
+            "name":             "streamRateRawSensors",
+            "shortDescription": "Stream rate for MAVLink Raw Sensors telemetry stream.",
+            "type":             "int32",
+            "enumStrings":      "QGC.MetaData.Defines.StreamRateEnumStrings",
+            "enumValues":       "QGC.MetaData.Defines.StreamRateEnumValues",
+            "defaultValue":     2
+        },
+        {
+            "name":             "streamRateExtendedStatus",
+            "shortDescription": "Stream rate for MAVLink Extended Status telemetry stream.",
+            "type":             "int32",
+            "enumStrings":      "QGC.MetaData.Defines.StreamRateEnumStrings",
+            "enumValues":       "QGC.MetaData.Defines.StreamRateEnumValues",
+            "defaultValue":     2
+        },
+        {
+            "name":             "streamRateRCChannels",
+            "shortDescription": "Stream rate for MAVLink RC Channels telemetry stream.",
+            "type":             "int32",
+            "enumStrings":      "QGC.MetaData.Defines.StreamRateEnumStrings",
+            "enumValues":       "QGC.MetaData.Defines.StreamRateEnumValues",
+            "defaultValue":     2
+        },
+        {
+            "name":             "streamRatePosition",
+            "shortDescription": "Stream rate for MAVLink Position telemetry stream.",
+            "type":             "int32",
+            "enumStrings":      "QGC.MetaData.Defines.StreamRateEnumStrings",
+            "enumValues":       "QGC.MetaData.Defines.StreamRateEnumValues",
+            "defaultValue":     3
+        },
+        {
+            "name":             "streamRateExtra1",
+            "shortDescription": "Stream rate for MAVLink Extra1 telemetry stream.",
+            "type":             "int32",
+            "enumStrings":      "QGC.MetaData.Defines.StreamRateEnumStrings",
+            "enumValues":       "QGC.MetaData.Defines.StreamRateEnumValues",
+            "defaultValue":     10
+        },
+        {
+            "name":             "streamRateExtra2",
+            "shortDescription": "Stream rate for MAVLink Extra2 telemetry stream.",
+            "type":             "int32",
+            "enumStrings":      "QGC.MetaData.Defines.StreamRateEnumStrings",
+            "enumValues":       "QGC.MetaData.Defines.StreamRateEnumValues",
+            "defaultValue":     10
+        },
+        {
+            "name":             "streamRateExtra3",
+            "shortDescription": "Stream rate for MAVLink Extra3 telemetry stream.",
+            "type":             "int32",
+            "enumStrings":      "QGC.MetaData.Defines.StreamRateEnumStrings",
+            "enumValues":       "QGC.MetaData.Defines.StreamRateEnumValues",
+            "defaultValue":     3
+        }
+    ]
+}

src/Settings/APMMavlinkStreamRateSettings.cc

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "APMMavlinkStreamRateSettings.h"
+#include "QGCApplication.h"
+
+#include <QQmlEngine>
+#include <QtQml>
+
+DECLARE_SETTINGGROUP(APMMavlinkStreamRate, "APMMavlinkStreamRate")
+{
+    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
+    qmlRegisterUncreatableType<APMMavlinkStreamRateSettings>("QGroundControl.SettingsManager", 1, 0, "APMMavlinkStreamRateSettings", "Reference only");
+
+    connect(streamRateRawSensors(),     &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateRawSensors);
+    connect(streamRateExtendedStatus(), &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateExtendedStatus);
+    connect(streamRateRCChannels(),     &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateRCChannels);
+    connect(streamRatePosition(),       &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRatePosition);
+    connect(streamRateExtra1(),         &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateExtra1);
+    connect(streamRateExtra2(),         &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateExtra2);
+    connect(streamRateExtra3(),         &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateExtra3);
+}
+
+DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateRawSensors)
+DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateExtendedStatus)
+DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateRCChannels)
+DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRatePosition)
+DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateExtra1)
+DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateExtra2)
+DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateExtra3)
+
+void APMMavlinkStreamRateSettings::_updateStreamRateWorker(MAV_DATA_STREAM mavStream, QVariant rateVar)
+{
+    Vehicle* activeVehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle();
+
+    if (activeVehicle) {
+        int streamRate = rateVar.toInt();
+        if (streamRate >= 0) {
+            activeVehicle->requestDataStream(mavStream, static_cast<uint16_t>(streamRate));
+        }
+    }
+}
+
+void APMMavlinkStreamRateSettings::_updateStreamRateRawSensors(QVariant value)
+{
+    _updateStreamRateWorker(MAV_DATA_STREAM_RAW_SENSORS, value);
+}
+
+void APMMavlinkStreamRateSettings::_updateStreamRateExtendedStatus(QVariant value)
+{
+    _updateStreamRateWorker(MAV_DATA_STREAM_EXTENDED_STATUS, value);
+}
+
+void APMMavlinkStreamRateSettings::_updateStreamRateRCChannels(QVariant value)
+{
+    _updateStreamRateWorker(MAV_DATA_STREAM_RC_CHANNELS, value);
+}
+
+void APMMavlinkStreamRateSettings::_updateStreamRatePosition(QVariant value)
+{
+    _updateStreamRateWorker(MAV_DATA_STREAM_POSITION, value);
+}
+
+void APMMavlinkStreamRateSettings::_updateStreamRateExtra1(QVariant value)
+{
+    _updateStreamRateWorker(MAV_DATA_STREAM_EXTRA1, value);
+}
+
+void APMMavlinkStreamRateSettings::_updateStreamRateExtra2(QVariant value)
+{
+    _updateStreamRateWorker(MAV_DATA_STREAM_EXTRA2, value);
+}
+
+void APMMavlinkStreamRateSettings::_updateStreamRateExtra3(QVariant value)
+{
+    _updateStreamRateWorker(MAV_DATA_STREAM_EXTRA3, value);
+}

src/Settings/APMMavlinkStreamRateSettings.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+#pragma once
+
+#include "SettingsGroup.h"
+#include "QGCMAVLink.h"
+
+class APMMavlinkStreamRateSettings : public SettingsGroup
+{
+    Q_OBJECT
+
+public:
+    APMMavlinkStreamRateSettings(QObject* parent = nullptr);
+
+    DEFINE_SETTING_NAME_GROUP()
+
+    DEFINE_SETTINGFACT(streamRateRawSensors)
+    DEFINE_SETTINGFACT(streamRateExtendedStatus)
+    DEFINE_SETTINGFACT(streamRateRCChannels)
+    DEFINE_SETTINGFACT(streamRatePosition)
+    DEFINE_SETTINGFACT(streamRateExtra1)
+    DEFINE_SETTINGFACT(streamRateExtra2)
+    DEFINE_SETTINGFACT(streamRateExtra3)
+
+private slots:
+    void _updateStreamRateRawSensors    (QVariant value);
+    void _updateStreamRateExtendedStatus(QVariant value);
+    void _updateStreamRateRCChannels    (QVariant value);
+    void _updateStreamRatePosition      (QVariant value);
+    void _updateStreamRateExtra1        (QVariant value);
+    void _updateStreamRateExtra2        (QVariant value);
+    void _updateStreamRateExtra3        (QVariant value);
+
+private:
+    void _updateStreamRateWorker(MAV_DATA_STREAM mavStream, QVariant rateVar);
+};

src/Settings/App.SettingsGroup.json

@@ -201,10 +201,11 @@
     "defaultValue":     0
 },
 {
-    "name":             "apmStartMavlinkStreams",
-    "shortDescription": "Request start of MAVLink telemetry streams (ArduPilot only)",
-    "type":             "bool",
-    "defaultValue":     true
+    "name":                 "apmStartMavlinkStreams",
+    "shortDescription":     "Request start of MAVLink telemetry streams (ArduPilot only)",
+    "type":                 "bool",
+    "defaultValue":         true,
+    "qgcRebootRequired":    true
 },
 {
     "name":             "enableTaisync",

src/Settings/SettingsManager.cc

@@ -17,15 +17,16 @@ SettingsManager::SettingsManager(QGCApplication* app, QGCToolbox* toolbox)
 #if defined(QGC_AIRMAP_ENABLED)
     , _airMapSettings       (nullptr)
 #endif
-    , _appSettings          (nullptr)
-    , _unitsSettings        (nullptr)
-    , _autoConnectSettings  (nullptr)
-    , _videoSettings        (nullptr)
-    , _flightMapSettings    (nullptr)
-    , _rtkSettings          (nullptr)
-    , _flyViewSettings      (nullptr)
-    , _planViewSettings     (nullptr)
-    , _brandImageSettings   (nullptr)
+    , _appSettings                  (nullptr)
+    , _unitsSettings                (nullptr)
+    , _autoConnectSettings          (nullptr)
+    , _videoSettings                (nullptr)
+    , _flightMapSettings            (nullptr)
+    , _rtkSettings                  (nullptr)
+    , _flyViewSettings              (nullptr)
+    , _planViewSettings             (nullptr)
+    , _brandImageSettings           (nullptr)
+    , _apmMavlinkStreamRateSettings (nullptr)
 {
 
 }
@@ -36,16 +37,17 @@ void SettingsManager::setToolbox(QGCToolbox *toolbox)
     QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
     qmlRegisterUncreatableType<SettingsManager>("QGroundControl.SettingsManager", 1, 0, "SettingsManager", "Reference only");
 
-    _unitsSettings =        new UnitsSettings       (this);        // Must be first since AppSettings references it
-    _appSettings =          new AppSettings         (this);
-    _autoConnectSettings =  new AutoConnectSettings (this);
-    _videoSettings =        new VideoSettings       (this);
-    _flightMapSettings =    new FlightMapSettings   (this);
-    _rtkSettings =          new RTKSettings         (this);
-    _flyViewSettings =      new FlyViewSettings     (this);
-    _planViewSettings =     new PlanViewSettings    (this);
-    _brandImageSettings =   new BrandImageSettings  (this);
+    _unitsSettings =                new UnitsSettings       (this);        // Must be first since AppSettings references it
+    _appSettings =                  new AppSettings         (this);
+    _autoConnectSettings =          new AutoConnectSettings (this);
+    _videoSettings =                new VideoSettings       (this);
+    _flightMapSettings =            new FlightMapSettings   (this);
+    _rtkSettings =                  new RTKSettings         (this);
+    _flyViewSettings =              new FlyViewSettings     (this);
+    _planViewSettings =             new PlanViewSettings    (this);
+    _brandImageSettings =           new BrandImageSettings  (this);
+    _apmMavlinkStreamRateSettings = new APMMavlinkStreamRateSettings     (this);
 #if defined(QGC_AIRMAP_ENABLED)
-    _airMapSettings =       new AirMapSettings      (this);
+    _airMapSettings =               new AirMapSettings      (this);
 #endif
 }

src/Settings/SettingsManager.h

@@ -23,6 +23,7 @@
 #include "FlyViewSettings.h"
 #include "PlanViewSettings.h"
 #include "BrandImageSettings.h"
+#include "APMMavlinkStreamRateSettings.h"
 #if defined(QGC_AIRMAP_ENABLED)
 #include "AirMapSettings.h"
 #endif
@@ -37,17 +38,18 @@ public:
     SettingsManager(QGCApplication* app, QGCToolbox* toolbox);
 
 #if defined(QGC_AIRMAP_ENABLED)
-    Q_PROPERTY(QObject* airMapSettings      READ airMapSettings         CONSTANT)
+    Q_PROPERTY(QObject* airMapSettings                  READ airMapSettings                 CONSTANT)
 #endif
-    Q_PROPERTY(QObject* appSettings         READ appSettings            CONSTANT)
-    Q_PROPERTY(QObject* unitsSettings       READ unitsSettings          CONSTANT)
-    Q_PROPERTY(QObject* autoConnectSettings READ autoConnectSettings    CONSTANT)
-    Q_PROPERTY(QObject* videoSettings       READ videoSettings          CONSTANT)
-    Q_PROPERTY(QObject* flightMapSettings   READ flightMapSettings      CONSTANT)
-    Q_PROPERTY(QObject* rtkSettings         READ rtkSettings            CONSTANT)
-    Q_PROPERTY(QObject* flyViewSettings     READ flyViewSettings        CONSTANT)
-    Q_PROPERTY(QObject* planViewSettings    READ planViewSettings       CONSTANT)
-    Q_PROPERTY(QObject* brandImageSettings  READ brandImageSettings     CONSTANT)
+    Q_PROPERTY(QObject* appSettings                     READ appSettings                    CONSTANT)
+    Q_PROPERTY(QObject* unitsSettings                   READ unitsSettings                  CONSTANT)
+    Q_PROPERTY(QObject* autoConnectSettings             READ autoConnectSettings            CONSTANT)
+    Q_PROPERTY(QObject* videoSettings                   READ videoSettings                  CONSTANT)
+    Q_PROPERTY(QObject* flightMapSettings               READ flightMapSettings              CONSTANT)
+    Q_PROPERTY(QObject* rtkSettings                     READ rtkSettings                    CONSTANT)
+    Q_PROPERTY(QObject* flyViewSettings                 READ flyViewSettings                CONSTANT)
+    Q_PROPERTY(QObject* planViewSettings                READ planViewSettings               CONSTANT)
+    Q_PROPERTY(QObject* brandImageSettings              READ brandImageSettings             CONSTANT)
+    Q_PROPERTY(QObject* apmMavlinkStreamRateSettings    READ apmMavlinkStreamRateSettings   CONSTANT)
 
     // Override from QGCTool
     virtual void setToolbox(QGCToolbox *toolbox);
@@ -55,29 +57,31 @@ public:
 #if defined(QGC_AIRMAP_ENABLED)
     AirMapSettings*         airMapSettings      (void) { return _airMapSettings; }
 #endif
-    AppSettings*            appSettings         (void) { return _appSettings; }
-    UnitsSettings*          unitsSettings       (void) { return _unitsSettings; }
-    AutoConnectSettings*    autoConnectSettings (void) { return _autoConnectSettings; }
-    VideoSettings*          videoSettings       (void) { return _videoSettings; }
-    FlightMapSettings*      flightMapSettings   (void) { return _flightMapSettings; }
-    RTKSettings*            rtkSettings         (void) { return _rtkSettings; }
-    FlyViewSettings*        flyViewSettings     (void) { return _flyViewSettings; }
-    PlanViewSettings*       planViewSettings    (void) { return _planViewSettings; }
-    BrandImageSettings*     brandImageSettings  (void) { return _brandImageSettings; }
+    AppSettings*                    appSettings                 (void) { return _appSettings; }
+    UnitsSettings*                  unitsSettings               (void) { return _unitsSettings; }
+    AutoConnectSettings*            autoConnectSettings         (void) { return _autoConnectSettings; }
+    VideoSettings*                  videoSettings               (void) { return _videoSettings; }
+    FlightMapSettings*              flightMapSettings           (void) { return _flightMapSettings; }
+    RTKSettings*                    rtkSettings                 (void) { return _rtkSettings; }
+    FlyViewSettings*                flyViewSettings             (void) { return _flyViewSettings; }
+    PlanViewSettings*               planViewSettings            (void) { return _planViewSettings; }
+    BrandImageSettings*             brandImageSettings          (void) { return _brandImageSettings; }
+    APMMavlinkStreamRateSettings*   apmMavlinkStreamRateSettings(void) { return _apmMavlinkStreamRateSettings; }
 
 private:
 #if defined(QGC_AIRMAP_ENABLED)
     AirMapSettings*         _airMapSettings;
 #endif
-    AppSettings*            _appSettings;
-    UnitsSettings*          _unitsSettings;
-    AutoConnectSettings*    _autoConnectSettings;
-    VideoSettings*          _videoSettings;
-    FlightMapSettings*      _flightMapSettings;
-    RTKSettings*            _rtkSettings;
-    FlyViewSettings*        _flyViewSettings;
-    PlanViewSettings*       _planViewSettings;
-    BrandImageSettings*     _brandImageSettings;
+    AppSettings*                    _appSettings;
+    UnitsSettings*                  _unitsSettings;
+    AutoConnectSettings*            _autoConnectSettings;
+    VideoSettings*                  _videoSettings;
+    FlightMapSettings*              _flightMapSettings;
+    RTKSettings*                    _rtkSettings;
+    FlyViewSettings*                _flyViewSettings;
+    PlanViewSettings*               _planViewSettings;
+    BrandImageSettings*             _brandImageSettings;
+    APMMavlinkStreamRateSettings*   _apmMavlinkStreamRateSettings;
 };
 
 #endif

src/ui/preferences/MavlinkSettings.qml

@@ -12,6 +12,7 @@ import QtQuick                  2.3
 import QtQuick.Controls         1.2
 import QtQuick.Controls.Styles  1.4
 import QtQuick.Dialogs          1.2
+import QtQuick.Layouts          1.2
 
 import QGroundControl                       1.0
 import QGroundControl.FactSystem            1.0
@@ -33,6 +34,7 @@ Rectangle {
     property bool _uploadedSelected:    false
     property var  _activeVehicle:       QGroundControl.multiVehicleManager.activeVehicle
     property var  _showMavlinkLog:      QGroundControl.corePlugin.options.showMavlinkLogOptions
+    property bool _showAPMStreamRates:  QGroundControl.apmFirmwareSupported && QGroundControl.settingsManager.apmMavlinkStreamRateSettings.visible
 
     QGCPalette { id: qgcPal }
 
@@ -143,11 +145,6 @@ Rectangle {
                         }
                     }
 
-                    FactCheckBox {
-                        text:   fact.shortDescription
-                        fact:   QGroundControl.settingsManager.appSettings.apmStartMavlinkStreams
-                    }
-
                     QGCCheckBox {
                         text:       qsTr("Only accept MAVs with same protocol version")
                         checked:    QGroundControl.isVersionCheckEnabled
@@ -158,6 +155,97 @@ Rectangle {
                 }
             }
             //-----------------------------------------------------------------
+            //-- Stream Rates
+            Item {
+                id:                         apmStreamRatesLabel
+                width:                      __mavlinkRoot.width * 0.8
+                height:                     streamRatesLabel.height
+                anchors.margins:            ScreenTools.defaultFontPixelWidth
+                anchors.horizontalCenter:   parent.horizontalCenter
+                visible:                    _showAPMStreamRates
+                QGCLabel {
+                    id:             streamRatesLabel
+                    text:           qsTr("Telemetry Stream Rates (ArduPilot Only)")
+                    font.family:    ScreenTools.demiboldFontFamily
+                }
+            }
+            Rectangle {
+                height:                     streamRatesColumn.height + (ScreenTools.defaultFontPixelHeight * 2)
+                width:                      __mavlinkRoot.width * 0.8
+                color:                      qgcPal.windowShade
+                anchors.margins:            ScreenTools.defaultFontPixelWidth
+                anchors.horizontalCenter:   parent.horizontalCenter
+                visible:                    _showAPMStreamRates
+
+                ColumnLayout {
+                    id:                 streamRatesColumn
+                    spacing:            ScreenTools.defaultFontPixelHeight / 2
+                    anchors.centerIn:   parent
+
+                    property bool allStreamsControlledByVehicle: !QGroundControl.settingsManager.appSettings.apmStartMavlinkStreams.rawValue
+
+                    QGCCheckBox {
+                        text:               qsTr("All Streams Controlled By Vehicle Settings")
+                        checked:            streamRatesColumn.allStreamsControlledByVehicle
+                        onClicked:          QGroundControl.settingsManager.appSettings.apmStartMavlinkStreams.rawValue = !checked
+                    }
+
+                    GridLayout {
+                        columns:    2
+                        enabled:    !streamRatesColumn.allStreamsControlledByVehicle
+
+                        QGCLabel { text:  qsTr("Raw Sensors") }
+                        FactComboBox {
+                            fact:                   QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateRawSensors
+                            indexModel:             false
+                            Layout.preferredWidth:  _valueWidth
+                        }
+
+                        QGCLabel { text:  qsTr("Extended Status") }
+                        FactComboBox {
+                            fact:                   QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateExtendedStatus
+                            indexModel:             false
+                            Layout.preferredWidth:  _valueWidth
+                        }
+
+                        QGCLabel { text:  qsTr("RC Channel") }
+                        FactComboBox {
+                            fact:                   QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateRCChannels
+                            indexModel:             false
+                            Layout.preferredWidth:  _valueWidth
+                        }
+
+                        QGCLabel { text:  qsTr("Position") }
+                        FactComboBox {
+                            fact:                   QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRatePosition
+                            indexModel:             false
+                            Layout.preferredWidth:  _valueWidth
+                        }
+
+                        QGCLabel { text:  qsTr("Extra 1") }
+                        FactComboBox {
+                            fact:                   QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateExtra1
+                            indexModel:             false
+                            Layout.preferredWidth:  _valueWidth
+                        }
+
+                        QGCLabel { text:  qsTr("Extra 2") }
+                        FactComboBox {
+                            fact:                   QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateExtra2
+                            indexModel:             false
+                            Layout.preferredWidth:  _valueWidth
+                        }
+
+                        QGCLabel { text:  qsTr("Extra 3") }
+                        FactComboBox {
+                            fact:                   QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateExtra3
+                            indexModel:             false
+                            Layout.preferredWidth:  _valueWidth
+                        }
+                    }
+                }
+            }
+            //-----------------------------------------------------------------
             //-- Mavlink Status
             Item {
                 width:              __mavlinkRoot.width * 0.8
@@ -253,7 +341,7 @@ Rectangle {
                 visible:            _showMavlinkLog
                 QGCLabel {
                     id:             mavlogLabel
-                    text:           qsTr("MAVLink 2.0 Logging (PX4 Firmware Only)")
+                    text:           qsTr("MAVLink 2.0 Logging (PX4 Pro Only)")
                     font.family:    ScreenTools.demiboldFontFamily
                 }
             }
@@ -315,7 +403,7 @@ Rectangle {
                 visible:            _showMavlinkLog
                 QGCLabel {
                     id:             logLabel
-                    text:           qsTr("MAVLink 2.0 Log Uploads (PX4 Firmware Only)")
+                    text:           qsTr("MAVLink 2.0 Log Uploads (PX4 Pro Only)")
                     font.family:    ScreenTools.demiboldFontFamily
                 }
             }