Warn on unsupported APM version

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -28,6 +28,7 @@
 #include "Generic/GenericFirmwarePlugin.h"
 #include "AutoPilotPlugins/APM/APMAutoPilotPlugin.h"    // FIXME: Hack
 #include "QGCMAVLink.h"
+#include "QGCApplication.h"
 
 QGC_LOGGING_CATEGORY(APMFirmwarePluginLog, "APMFirmwarePluginLog")
 
@@ -211,7 +212,7 @@ int APMFirmwarePlugin::manualControlReservedButtonCount(void)
     return -1;
 }
 
-void APMFirmwarePlugin::adjustMavlinkMessage(mavlink_message_t* message)
+void APMFirmwarePlugin::adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message)
 {
     if (message->msgid == MAVLINK_MSG_ID_PARAM_VALUE) {
         mavlink_param_value_t paramValue;
@@ -296,9 +297,6 @@ void APMFirmwarePlugin::adjustMavlinkMessage(mavlink_message_t* message)
         mavlink_statustext_t statusText;
         mavlink_msg_statustext_decode(message, &statusText);
 
-        // APM user facing calibration messages come through as high severity, we need to parse them out
-        // and lower the severity on them so that they don't pop in the users face.
-
         if (!_firmwareVersion.isValid() || statusText.severity < MAV_SEVERITY_NOTICE) {
             QByteArray b;
             b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1);
@@ -314,9 +312,42 @@ void APMFirmwarePlugin::adjustMavlinkMessage(mavlink_message_t* message)
                     // found version string
                     _firmwareVersion = APMFirmwareVersion(messageText);
                     _textSeverityAdjustmentNeeded = _isTextSeverityAdjustmentNeeded(_firmwareVersion);
+
+                    if (!_firmwareVersion.isBeta() && !_firmwareVersion.isDev()) {
+                        int supportedMajorNumber = -1;
+                        int supportedMinorNumber = -1;
+
+                        switch (vehicle->vehicleType()) {
+                        case MAV_TYPE_FIXED_WING:
+                            supportedMajorNumber = 3;
+                            supportedMinorNumber = 4;
+                            break;
+                        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:
+                            supportedMajorNumber = 3;
+                            supportedMinorNumber = 3;
+                            break;
+                        default:
+                            break;
+                        }
+
+                        if (supportedMajorNumber != -1) {
+                            if (_firmwareVersion.majorNumber() < supportedMajorNumber || _firmwareVersion.minorNumber() < supportedMinorNumber) {
+                                qgcApp()->showMessage(QString("QGroundControl fully supports Version %1.%2 and above. You are using a version prior to that. This combination is untested, you may run into unpredictable results.").arg(supportedMajorNumber).arg(supportedMinorNumber));
+                            }
+                        }
+                    }
                 }
             }
 
+            // APM user facing calibration messages come through as high severity, we need to parse them out
+            // and lower the severity on them so that they don't pop in the users face.
+
             if (messageText.contains("Place vehicle") || messageText.contains("Calibration successful")) {
                 _adjustCalibrationMessageSeverity(message);
                 return;

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -86,7 +86,7 @@ public:
     virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode);
     virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode);
     virtual int manualControlReservedButtonCount(void);
-    virtual void adjustMavlinkMessage(mavlink_message_t* message);
+    virtual void adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message);
     virtual void initializeVehicle(Vehicle* vehicle);
     virtual bool sendHomePositionToVehicle(void);
     virtual void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);

src/FirmwarePlugin/FirmwarePlugin.h

@@ -90,8 +90,9 @@ public:
     /// Called before any mavlink message is processed by Vehicle such taht 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.
+    ///     @param vehicle Vehicle message came from
     ///     @param message[in,out] Mavlink message to adjust if needed.
-    virtual void adjustMavlinkMessage(mavlink_message_t* message) = 0;
+    virtual void adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message) = 0;
     
     /// Called when Vehicle is first created to send any necessary mavlink messages to the firmware.
     virtual void initializeVehicle(Vehicle* vehicle) = 0;

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc

@@ -90,8 +90,9 @@ int GenericFirmwarePlugin::manualControlReservedButtonCount(void)
     return -1;
 }
 
-void GenericFirmwarePlugin::adjustMavlinkMessage(mavlink_message_t* message)
+void GenericFirmwarePlugin::adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message)
 {
+    Q_UNUSED(vehicle);
     Q_UNUSED(message);
     
     // Generic plugin does no message adjustment

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h

@@ -42,7 +42,7 @@ public:
     virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode);
     virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode);
     virtual int manualControlReservedButtonCount(void);
-    virtual void adjustMavlinkMessage(mavlink_message_t* message);
+    virtual void adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message);
     virtual void initializeVehicle(Vehicle* vehicle);
     virtual bool sendHomePositionToVehicle(void);
     virtual void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -177,8 +177,9 @@ int PX4FirmwarePlugin::manualControlReservedButtonCount(void)
     return 0;   // 0 buttons reserved for rc switch simulation
 }
 
-void PX4FirmwarePlugin::adjustMavlinkMessage(mavlink_message_t* message)
+void PX4FirmwarePlugin::adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message)
 {
+    Q_UNUSED(vehicle);
     Q_UNUSED(message);
 
     // PX4 Flight Stack plugin does no message adjustment

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -42,7 +42,7 @@ public:
     virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode);
     virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode);
     virtual int manualControlReservedButtonCount(void);
-    virtual void adjustMavlinkMessage(mavlink_message_t* message);
+    virtual void adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message);
     virtual void initializeVehicle(Vehicle* vehicle);
     virtual bool sendHomePositionToVehicle(void);
     virtual void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);

src/Vehicle/Vehicle.cc

@@ -221,7 +221,7 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     }
 
     // Give the plugin a change to adjust the message contents
-    _firmwarePlugin->adjustMavlinkMessage(&message);
+    _firmwarePlugin->adjustMavlinkMessage(this, &message);
 
     switch (message.msgid) {
     case MAVLINK_MSG_ID_HOME_POSITION:
@@ -442,7 +442,7 @@ void Vehicle::_sendMessage(mavlink_message_t message)
             MAVLinkProtocol* mavlink = _mavlink;
 
             // Give the plugin a chance to adjust
-            _firmwarePlugin->adjustMavlinkMessage(&message);
+            _firmwarePlugin->adjustMavlinkMessage(this, &message);
 
             static const uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
             mavlink_finalize_message_chan(&message, mavlink->getSystemId(), mavlink->getComponentId(), link->getMavlinkChannel(), message.len, messageKeys[message.msgid]);