Remove support for MAVLink v1 message protocol #13670
Merged
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Contributor
Author
|
Gonna sit on this for a couple days to see if anyone comes up with some nasty reason to not remove v1 support |
Copilot finished reviewing on behalf of
DonLakeFlyer
November 24, 2025 18:25
Contributor
There was a problem hiding this comment.
Pull request overview
This pull request removes support for the MAVLink v1 protocol, enforcing MAVLink v2 as the only supported protocol version. When MAVLink v1 traffic is detected on a link, QGroundControl now notifies the user and stops processing that link.
Key Changes:
- Removed protocol version negotiation and tracking from Vehicle and MultiVehicleManager
- Eliminated the PROTOCOL_VERSION request state from the initial connection state machine
- Added MAVLink v1 traffic detection with user notification in LinkInterface
- Simplified RallyPoint and GeoFence support checks by removing protocol version requirements
Reviewed changes
Copilot reviewed 22 out of 22 changed files in this pull request and generated 4 comments.
Show a summary per file
| File | Description |
|---|---|
| src/Vehicle/Vehicle.h | Removed maxProtoVersion tracking and requestProtocolVersion signal |
| src/Vehicle/Vehicle.cc | Removed protocol version negotiation logic and _setMaxProtoVersion methods |
| src/Vehicle/MultiVehicleManager.h | Removed _requestProtocolVersion slot |
| src/Vehicle/MultiVehicleManager.cc | Removed protocol version negotiation across multiple vehicles |
| src/Vehicle/InitialConnectStateMachine.h | Removed _stateRequestProtocolVersion state and handler |
| src/Vehicle/InitialConnectStateMachine.cc | Removed PROTOCOL_VERSION request logic; now assumes MAVLink v2 support |
| src/Settings/MavlinkSettings.h | Removed requireMatchingMavlinkVersions setting |
| src/Settings/MavlinkSettings.cc | Removed requireMatchingMavlinkVersions declaration |
| src/MissionManager/RallyPointManager.cc | Simplified supported() to only check capability bits |
| src/MissionManager/RallyPointController.cc | Removed requestProtocolVersion signal connection; simplified support check |
| src/MissionManager/GeoFenceManager.cc | Simplified supported() to only check capability bits |
| src/MissionManager/GeoFenceController.cc | Removed requestProtocolVersion signal connection; simplified support check |
| src/MissionManager/MavCmdInfoCommon.json | Removed MAV_CMD_REQUEST_PROTOCOL_VERSION entry |
| src/Comms/MockLink/MockLink.h | Removed _handleRequestMessageProtocolVersion handler |
| src/Comms/MockLink/MockLink.cc | Removed protocol version request handling logic |
| src/Comms/MockLink/MockConfiguration.h | Removed protocol version failure test modes |
| src/Comms/MAVLinkProtocol.h | Removed version tracking and setVersion method |
| src/Comms/MAVLinkProtocol.cc | Replaced version switching with v1 traffic detection; added QTimer include |
| src/Comms/LinkManager.cc | Removed setVersion call during link creation |
| src/Comms/LinkInterface.h | Added reportMavlinkV1Traffic method and tracking flag |
| src/Comms/LinkInterface.cc | Implemented v1 traffic detection with user notification |
| test/Vehicle/InitialConnectTest.cc | Removed protocol version failure test cases |
DonLakeFlyer
force-pushed
the
MavlinkV2Only
branch
from
884f44a to
fada667
Compare
Copilot finished reviewing on behalf of
DonLakeFlyer
November 24, 2025 18:49
Contributor
There was a problem hiding this comment.
Pull request overview
Copilot reviewed 22 out of 22 changed files in this pull request and generated no new comments.
Comments suppressed due to low confidence (1)
src/Vehicle/InitialConnectStateMachine.h:81
- The
_rgProgressWeightsarray has 8 elements but the first comment still references "_stateRequestCapabilities" which was removed. The array indices don't match the state machine functions. The array should have comments matching the actual states:
_stateRequestAutopilotVersion(not "Capabilities")_stateRequestStandardModes_stateRequestCompInfo_stateRequestParameters_stateRequestMission_stateRequestGeoFence_stateRequestRallyPoints_stateSignalInitialConnectComplete
This mismatch could cause confusion when maintaining or debugging the progress tracking logic.
static constexpr const int _rgProgressWeights[] = {
1, //_stateRequestCapabilities
1, //_stateRequestStandardModes
5, //_stateRequestCompInfo
5, //_stateRequestParameters
2, //_stateRequestMission
1, //_stateRequestGeoFence
1, //_stateRequestRallyPoints
1, //_stateSignalInitialConnectComplete
};
128edc0 to
3c75fe8
Compare
Notify user if v1 traffic is detected on link
DonLakeFlyer
force-pushed
the
MavlinkV2Only
branch
from
3c75fe8 to
b6d4594
Compare
Copilot finished reviewing on behalf of
DonLakeFlyer
November 25, 2025 16:26
|
|
||
| qCDebug(LinkInterfaceLog) << "_allocateMavlinkChannel" << _mavlinkChannel; | ||
|
|
||
| mavlink_set_proto_version(_mavlinkChannel, MAVLINK_VERSION); // We only support v2 protcol |
There was a problem hiding this comment.
Typo in comment: "protcol" should be "protocol".
Suggested change
| mavlink_set_proto_version(_mavlinkChannel, MAVLINK_VERSION); // We only support v2 protcol | |
| mavlink_set_proto_version(_mavlinkChannel, MAVLINK_VERSION); // We only support v2 protocol |
Contributor
|
I may be the minority, but I think this is a good step forward. Thank you. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Uh oh!
There was an error while loading. Please reload this page.