Disable CompassMot for Sub

src/AutoPilotPlugins/APM/APMSensorsComponent.qml

@@ -532,6 +532,10 @@ SetupPage {
                     id:         motorInterferenceButton
                     width:      parent.buttonWidth
                     text:       qsTr("CompassMot")
+                    visible:    _activeVehicle ? _activeVehicle.supportsMotorInterference : false
+
+                    property var  _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
+
                     onClicked:  showDialog(compassMotDialogComponent, qsTr("CompassMot - Compass Motor Interference Calibration"), qgcView.showDialogFullWidth, StandardButton.Cancel | StandardButton.Ok)
                 }
 

src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc

@@ -101,3 +101,8 @@ bool ArduSubFirmwarePlugin::supportsCalibratePressure(void)
 {
     return true;
 }
+
+bool ArduSubFirmwarePlugin::supportsMotorInterference(void)
+{
+    return false;
+}

src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h

@@ -81,6 +81,8 @@ public:
 
     bool supportsCalibratePressure(void);
 
+    bool supportsMotorInterference(void);
+
     QString brandImage(const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImageSub"); }
     const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
     int remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const final;

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -139,6 +139,11 @@ bool FirmwarePlugin::supportsCalibratePressure(void)
     return false;
 }
 
+bool FirmwarePlugin::supportsMotorInterference(void)
+{
+    return true;
+}
+
 bool FirmwarePlugin::supportsJSButton(void)
 {
     return false;

src/FirmwarePlugin/FirmwarePlugin.h

@@ -167,6 +167,10 @@ public:
     /// zero at the current pressure. Default is false.
     virtual bool supportsCalibratePressure(void);
 
+    /// Returns true if the firmware supports calibrating motor interference offsets for the compass
+    /// (CompassMot). Default is true.
+    virtual bool supportsMotorInterference(void);
+
     /// Called before any mavlink message is processed by Vehicle such that the firmwre plugin
     /// can adjust any message characteristics. This is handy to adjust or differences in mavlink
     /// spec implementations such that the base code can remain mavlink generic.

src/Vehicle/Vehicle.cc

@@ -1777,6 +1777,11 @@ bool Vehicle::supportsCalibratePressure(void) const
     return _firmwarePlugin->supportsCalibratePressure();
 }
 
+bool Vehicle::supportsMotorInterference(void) const
+{
+    return _firmwarePlugin->supportsMotorInterference();
+}
+
 void Vehicle::_setCoordinateValid(bool coordinateValid)
 {
     if (coordinateValid != _coordinateValid) {

src/Vehicle/Vehicle.h

@@ -282,7 +282,8 @@ public:
     Q_PROPERTY(bool        supportsThrottleModeCenterZero   READ supportsThrottleModeCenterZero                         CONSTANT)
     Q_PROPERTY(bool                 supportsJSButton        READ supportsJSButton                                       CONSTANT)
     Q_PROPERTY(bool                 supportsRadio           READ supportsRadio                                          CONSTANT)
-    Q_PROPERTY(bool               supportsCalibratePressure READ supportsCalibratePressure                                  CONSTANT)
+    Q_PROPERTY(bool               supportsCalibratePressure READ supportsCalibratePressure                              CONSTANT)
+    Q_PROPERTY(bool               supportsMotorInterference READ supportsMotorInterference                              CONSTANT)
     Q_PROPERTY(bool                 autoDisconnect          MEMBER _autoDisconnect                                      NOTIFY autoDisconnectChanged)
     Q_PROPERTY(QString              prearmError             READ prearmError            WRITE setPrearmError            NOTIFY prearmErrorChanged)
     Q_PROPERTY(int                  motorCount              READ motorCount                                             CONSTANT)
@@ -506,6 +507,7 @@ public:
     bool supportsRadio(void) const;
     bool supportsJSButton(void) const;
     bool supportsCalibratePressure(void) const;
+    bool supportsMotorInterference(void) const;
 
     void setFlying(bool flying);
     void setGuidedMode(bool guidedMode);