Pre-flight check now done in AutoPilot plugin

So this special casing is no longer needed

src/uas/QGCMAVLinkUASFactory.cc

@@ -1,6 +1,5 @@
 #include "QGCMAVLinkUASFactory.h"
 #include "UASManager.h"
-#include "QGXPX4UAS.h"
 
 QGCMAVLinkUASFactory::QGCMAVLinkUASFactory(QObject *parent) :
     QObject(parent)
@@ -20,62 +19,31 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
         p = mavlink;
     }
 
-    UASInterface* uas;
+    UASInterface* uasInterface;
 
-    switch (heartbeat->autopilot)
-    {
-    case MAV_AUTOPILOT_GENERIC:
-    {
-        UAS* mav = new UAS(mavlink, sysid);
-        // Set the system type
-        mav->setSystemType((int)heartbeat->type);
+    UAS* uasObject = new UAS(mavlink, sysid);
+    Q_CHECK_PTR(uasObject);
+    uasInterface = uasObject;
     
-        // Connect this robot to the UAS object
-        connect(mavlink, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
-        connect(mavlink, SIGNAL(messageReceived(LinkInterface*,mavlink_message_t)), mav->getFileManager(), SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
-        uas = mav;
-    }
-    break;
-    case MAV_AUTOPILOT_PX4:
-    {
-        QGXPX4UAS* px4 = new QGXPX4UAS(mavlink, sysid);
-        // Set the system type
-        px4->setSystemType((int)heartbeat->type);
+    uasObject->setSystemType((int)heartbeat->type);
 
     // Connect this robot to the UAS object
-        // it is IMPORTANT here to use the right object type,
+    // It is IMPORTANT here to use the right object type,
     // else the slot of the parent object is called (and thus the special
     // packets never reach their goal)
-        connect(mavlink, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), px4, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
-        uas = px4;
-    }
-    break;
-    default:
-    {
-        UAS* mav = new UAS(mavlink, sysid);
-        mav->setSystemType((int)heartbeat->type);
-
-        // Connect this robot to the UAS object
-        // it is IMPORTANT here to use the right object type,
-        // else the slot of the parent object is called (and thus the special
-        // packets never reach their goal)
-        connect(mavlink, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
-        uas = mav;
-    }
-    break;
-    }
+    connect(mavlink, &MAVLinkProtocol::messageReceived, uasObject, &UAS::receiveMessage);
 
     // Set the autopilot type
-    uas->setAutopilotType((int)heartbeat->autopilot);
+    uasInterface->setAutopilotType((int)heartbeat->autopilot);
 
     // Make UAS aware that this link can be used to communicate with the actual robot
-    uas->addLink(link);
+    uasInterface->addLink(link);
 
     // First thing we do with a new UAS is get the parameters
-    uas->getParamManager()->requestParameterList();
+    uasInterface->getParamManager()->requestParameterList();
     
     // Now add UAS to "official" list, which makes the whole application aware of it
-    UASManager::instance()->addUAS(uas);
+    UASManager::instance()->addUAS(uasInterface);
     
-    return uas;
+    return uasInterface;
 }

src/uas/QGXPX4UAS.cc

@@ -1,40 +0,0 @@
-#include "QGXPX4UAS.h"
-
-QGXPX4UAS::QGXPX4UAS(MAVLinkProtocol* mavlink, int id) :
-    UAS(mavlink, id)
-{
-}
-
-/**
- * This function is called by MAVLink once a complete, uncorrupted (CRC check valid)
- * mavlink packet is received.
- *
- * @param link Hardware link the message came from (e.g. /dev/ttyUSB0 or UDP port).
- *             messages can be sent back to the system via this link
- * @param message MAVLink message, as received from the MAVLink protocol stack
- */
-void QGXPX4UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
-{
-    UAS::receiveMessage(link, message);
-}
-
-void QGXPX4UAS::processParamValueMsgHook(mavlink_message_t& msg, const QString& paramName,const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramValue)
-{
-    Q_UNUSED(rawValue);
-    Q_UNUSED(paramValue);
-
-    int compId = msg.compid;
-    if (paramName == "SYS_AUTOSTART") {
-
-        bool ok;
-
-        int val = parameters.value(compId)->value(paramName).toInt(&ok);
-
-        if (ok && val == 0) {
-            emit misconfigurationDetected(this);
-            qDebug() << "HINTING MISCONFIGURATION";
-        }
-
-        qDebug() << "SYS_AUTOSTART FOUND WITH VAL: " << val;
-    }
-}

src/uas/QGXPX4UAS.h

@@ -1,21 +0,0 @@
-#ifndef QGXPX4UAS_H
-#define QGXPX4UAS_H
-
-#include "UAS.h"
-
-class QGXPX4UAS : public UAS
-{
-    Q_OBJECT
-    Q_INTERFACES(UASInterface)
-public:
-    QGXPX4UAS(MAVLinkProtocol* mavlink, int id);
-
-public slots:
-    /** @brief Receive a MAVLink message from this MAV */
-    void receiveMessage(LinkInterface* link, mavlink_message_t message);
-
-    virtual void processParamValueMsgHook(mavlink_message_t& msg, const QString& paramName,const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramValue);
-
-};
-
-#endif // QGXPX4UAS_H

src/uas/UAS.cc

@@ -1029,8 +1029,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             paramVal.type = rawValue.param_type;
 
             processParamValueMsg(message, parameterName,rawValue,paramVal);
-            processParamValueMsgHook(message, parameterName,rawValue,paramVal);
-
          }
             break;
         case MAVLINK_MSG_ID_COMMAND_ACK:

src/uas/UAS.h

@@ -930,7 +930,6 @@ protected:
     quint64 getUnixReferenceTime(quint64 time);
 
     virtual void processParamValueMsg(mavlink_message_t& msg, const QString& paramName,const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramValue);
-    virtual void processParamValueMsgHook(mavlink_message_t& msg, const QString& paramName,const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramValue) { Q_UNUSED(msg); Q_UNUSED(paramName); Q_UNUSED(rawValue); Q_UNUSED(paramValue); };
 
     int componentID[256];
     bool componentMulti[256];