Vehicle: check if health_and_arming_check event protocol supported

src/Vehicle/EventHandler.h

@@ -41,6 +41,11 @@ public:
 
     int getModeGroup(int32_t customMode);
 
+    bool healthAndArmingChecksSupported() const {
+        const auto& protocols = _parser.supportedProtocols(_compid);
+        return protocols.find("health_and_arming_check") != protocols.end();
+    }
+
 signals:
     void healthAndArmingChecksUpdated();
 

src/Vehicle/Vehicle.cc

@@ -891,6 +891,15 @@ void Vehicle::_chunkedStatusTextCompleted(uint8_t compId)
     bool ardupilotPrearm = messageText.startsWith(QStringLiteral("PreArm"));
     bool px4Prearm = messageText.startsWith(QStringLiteral("preflight"), Qt::CaseInsensitive) && severity >= MAV_SEVERITY_CRITICAL;
     if (ardupilotPrearm || px4Prearm) {
+        // check if expected as event
+        auto eventData = _events.find(compId);
+        if (eventData != _events.end()) {
+            if (eventData->data()->healthAndArmingChecksSupported()) {
+                qCDebug(VehicleLog) << "Dropping preflight message (expected as event):" << messageText;
+                return;
+            }
+        }
+
         // Limit repeated PreArm message to once every 10 seconds
         if (_noisySpokenPrearmMap.contains(messageText) && _noisySpokenPrearmMap[messageText].msecsTo(QTime::currentTime()) < (10 * 1000)) {
             skipSpoken = true;