Remove support for MAVLink v1 message protocol

src/Comms/LinkInterface.cc

@@ -88,6 +88,7 @@ bool LinkInterface::_allocateMavlinkChannel()
 
     qCDebug(LinkInterfaceLog) << "_allocateMavlinkChannel" << _mavlinkChannel;
 
+    mavlink_set_proto_version(_mavlinkChannel, MAVLINK_VERSION); // We only support v2 protcol
     initMavlinkSigning();
 
     return true;
@@ -140,3 +141,19 @@ void LinkInterface::setSigningSignatureFailure(bool failure)
         }
     }
 }
+
+void LinkInterface::reportMavlinkV1Traffic()
+{
+    if (!_mavlinkV1TrafficReported) {
+        _mavlinkV1TrafficReported = true;
+
+        const SharedLinkConfigurationPtr linkConfig = linkConfiguration();
+        const QString linkName = linkConfig ? linkConfig->name() : QStringLiteral("unknown");
+        qCWarning(LinkInterfaceLog) << "MAVLink v1 traffic detected on link" << linkName;
+        const QString message = tr("MAVLink v1 traffic detected on link '%1'. "
+                                   "%2 only supports MAVLink v2. "
+                                   "Please ensure your vehicle is configured to use MAVLink v2.")
+                                    .arg(linkName).arg(qgcApp()->applicationName());
+        qgcApp()->showAppMessage(message);
+    }
+}

src/Comms/LinkInterface.h

@@ -46,6 +46,7 @@ class LinkInterface : public QObject
     void removeVehicleReference();
     bool initMavlinkSigning();
     void setSigningSignatureFailure(bool failure);
+    void reportMavlinkV1Traffic();
 
 signals:
     void bytesReceived(LinkInterface *link, const QByteArray &data);
@@ -80,6 +81,7 @@ private slots:
     bool _decodedFirstMavlinkPacket = false;
     int _vehicleReferenceCount = 0;
     bool _signingSignatureFailure = false;
+    bool _mavlinkV1TrafficReported = false;
 };
 
 typedef std::shared_ptr<LinkInterface> SharedLinkInterfacePtr;

src/Comms/LinkManager.cc

@@ -169,7 +169,6 @@ bool LinkManager::createConnectedLink(SharedLinkConfigurationPtr &config)
     (void) connect(link.get(), &LinkInterface::disconnected, this, &LinkManager::_linkDisconnected);
 
     MAVLinkProtocol::instance()->resetMetadataForLink(link.get());
-    MAVLinkProtocol::instance()->setVersion(MAVLinkProtocol::instance()->getCurrentVersion());
 
     // Try to connect before adding to active links list
     if (!link->_connect()) {

src/Comms/MAVLinkProtocol.cc

@@ -24,6 +24,7 @@
 #include <QtCore/QMetaType>
 #include <QtCore/QSettings>
 #include <QtCore/QStandardPaths>
+#include <QtCore/QTimer>
 
 QGC_LOGGING_CATEGORY(MAVLinkProtocolLog, "Comms.MAVLinkProtocol")
 
@@ -59,16 +60,6 @@ void MAVLinkProtocol::init()
     _initialized = true;
 }
 
-void MAVLinkProtocol::setVersion(unsigned version)
-{
-    const QList<SharedLinkInterfacePtr> sharedLinks = LinkManager::instance()->links();
-    for (const SharedLinkInterfacePtr &interface : sharedLinks) {
-        mavlink_set_proto_version(interface.get()->mavlinkChannel(), version / 100);
-    }
-
-    _currentVersion = version;
-}
-
 void MAVLinkProtocol::resetMetadataForLink(LinkInterface *link)
 {
     const uint8_t channel = link->mavlinkChannel();
@@ -119,7 +110,11 @@ void MAVLinkProtocol::receiveBytes(LinkInterface *link, const QByteArray &data)
             continue;
         }
 
-        _updateVersion(link, mavlinkChannel);
+        if (status.flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) {
+            link->reportMavlinkV1Traffic();
+            continue;
+        }
+
         _updateCounters(mavlinkChannel, message);
         if (!linkPtr->linkConfiguration()->isForwarding()) {
             _forward(message);
@@ -133,25 +128,6 @@ void MAVLinkProtocol::receiveBytes(LinkInterface *link, const QByteArray &data)
     }
 }
 
-void MAVLinkProtocol::_updateVersion(LinkInterface *link, uint8_t mavlinkChannel)
-{
-    if (link->decodedFirstMavlinkPacket()) {
-        return;
-    }
-
-    link->setDecodedFirstMavlinkPacket(true);
-    const mavlink_status_t *const mavlinkStatus = mavlink_get_channel_status(mavlinkChannel);
-
-    if (mavlinkStatus->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) {
-        return;
-    }
-
-    if (mavlink_get_proto_version(mavlinkChannel) == 1) {
-        qCDebug(MAVLinkProtocolLog) << "Switching outbound to mavlink 2.0 due to incoming mavlink 2.0 packet:" << mavlinkChannel;
-        setVersion(200);
-    }
-}
-
 void MAVLinkProtocol::_updateCounters(uint8_t mavlinkChannel, const mavlink_message_t &message)
 {
     _totalReceiveCounter[mavlinkChannel]++;

src/Comms/MAVLinkProtocol.h

@@ -51,21 +51,12 @@ class MAVLinkProtocol : public QObject
     /// Get the component id of this application
     static int getComponentId() { return MAV_COMP_ID_MISSIONPLANNER; }
 
-    /// Get the protocol version
-    static int getVersion() { return MAVLINK_VERSION; }
-
-    /// Get the currently configured protocol version
-    unsigned getCurrentVersion() const { return _currentVersion; }
-
     /// Reset the counters for all metadata for this link.
     void resetMetadataForLink(LinkInterface *link);
 
     /// Suspend/Restart logging during replay.
     void suspendLogForReplay(bool suspend) { _logSuspendReplay = suspend; }
 
-    /// Set protocol version
-    void setVersion(unsigned version);
-
     /// Checks the temp directory for log files which may have been left there.
     /// This could happen if QGC crashes without the temp log file being saved.
     /// Give the user an option to save these orphaned files.
@@ -107,7 +98,6 @@ private slots:
 
     void _updateCounters(uint8_t mavlinkChannel, const mavlink_message_t &message);
     bool _updateStatus(LinkInterface *link, const SharedLinkInterfacePtr linkPtr, uint8_t mavlinkChannel, const mavlink_message_t &message);
-    void _updateVersion(LinkInterface *link, uint8_t mavlinkChannel);
 
     void _saveTelemetryLog(const QString &tempLogfile);
     bool _checkTelemetrySavePath();
@@ -124,7 +114,6 @@ private slots:
     uint64_t _totalLossCounter[MAVLINK_COMM_NUM_BUFFERS]{};     ///< Total messages lost during transmission.
     float _runningLossPercent[MAVLINK_COMM_NUM_BUFFERS]{};      ///< Loss rate
 
-    unsigned _currentVersion = 100;
     bool _initialized = false;
 
     static constexpr const char *_tempLogFileTemplate = "FlightDataXXXXXX"; ///< Template for temporary log file

src/Comms/MockLink/MockConfiguration.h

@@ -59,8 +59,6 @@ class MockConfiguration : public LinkConfiguration
         FailMissingParamOnAllRequests,                              // Not all params are sent on initial request, QGC retries will fail as well
         FailInitialConnectRequestMessageAutopilotVersionFailure,    // REQUEST_MESSAGE:AUTOPILOT_VERSION returns failure
         FailInitialConnectRequestMessageAutopilotVersionLost,       // REQUEST_MESSAGE:AUTOPILOT_VERSION success, AUTOPILOT_VERSION never sent
-        FailInitialConnectRequestMessageProtocolVersionFailure,     // REQUEST_MESSAGE:PROTOCOL_VERSION returns failure
-        FailInitialConnectRequestMessageProtocolVersionLost,        // REQUEST_MESSAGE:PROTOCOL_VERSION success, PROTOCOL_VERSION never sent
     };
     FailureMode_t failureMode() const { return _failureMode; }
     void setFailureMode(FailureMode_t failureMode) { _failureMode = failureMode; }

src/Comms/MockLink/MockLink.cc

@@ -1818,39 +1818,6 @@ void MockLink::_handleRequestMessageAutopilotVersion(const mavlink_command_long_
     _respondWithAutopilotVersion();
 }
 
-void MockLink::_handleRequestMessageProtocolVersion(const mavlink_command_long_t &request, bool &accepted)
-{
-    accepted = true;
-
-    switch (_failureMode) {
-    case MockConfiguration::FailNone:
-        break;
-    case MockConfiguration::FailInitialConnectRequestMessageProtocolVersionFailure:
-        accepted = false;
-        return;
-    case MockConfiguration::FailInitialConnectRequestMessageProtocolVersionLost:
-        accepted = true;
-        return;
-    default:
-        break;
-    }
-
-    const uint8_t nullHash[8]{};
-    mavlink_message_t responseMsg{};
-    (void) mavlink_msg_protocol_version_pack_chan(
-        _vehicleSystemId,
-        _vehicleComponentId,
-        mavlinkChannel(),
-        &responseMsg,
-        200,
-        100,
-        200,
-        nullHash,
-        nullHash
-    );
-    respondWithMavlinkMessage(responseMsg);
-}
-
 void MockLink::_handleRequestMessageDebug(const mavlink_command_long_t &request, bool &accepted, bool &noAck)
 {
     accepted = true;
@@ -1946,9 +1913,6 @@ void MockLink::_handleRequestMessage(const mavlink_command_long_t &request, bool
     case MAVLINK_MSG_ID_AUTOPILOT_VERSION:
         _handleRequestMessageAutopilotVersion(request, accepted);
         break;
-    case MAVLINK_MSG_ID_PROTOCOL_VERSION:
-        _handleRequestMessageProtocolVersion(request, accepted);
-        break;
     case MAVLINK_MSG_ID_COMPONENT_METADATA:
         if (_firmwareType == MAV_AUTOPILOT_PX4) {
             _sendGeneralMetaData();

src/Comms/MockLink/MockLink.h

@@ -186,7 +186,6 @@ private slots:
     void _handleParamMapRC(const mavlink_message_t &msg);
     void _handleRequestMessage(const mavlink_command_long_t &request, bool &accepted, bool &noAck);
     void _handleRequestMessageAutopilotVersion(const mavlink_command_long_t &request, bool &accepted);
-    void _handleRequestMessageProtocolVersion(const mavlink_command_long_t &request, bool &accepted);
     void _handleRequestMessageDebug(const mavlink_command_long_t &request, bool &accepted, bool &noAck);
     void _handleRequestMessageAvailableModes(const mavlink_command_long_t &request, bool &accepted);
     void _handleRequestMessageGimbalManagerInformation(const mavlink_command_long_t &request, bool &accepted);

src/MissionManager/GeoFenceController.cc

@@ -105,17 +105,11 @@ void GeoFenceController::_managerVehicleChanged(Vehicle* managerVehicle)
     connect(_geoFenceManager, &GeoFenceManager::removeAllComplete,              this, &GeoFenceController::_managerRemoveAllComplete);
     connect(_geoFenceManager, &GeoFenceManager::inProgressChanged,              this, &GeoFenceController::syncInProgressChanged);
 
-    //-- GeoFenceController::supported() tests both the capability bit AND the protocol version.
     (void) connect(_managerVehicle, &Vehicle::capabilityBitsChanged, this, [this](uint64_t capabilityBits) {
         Q_UNUSED(capabilityBits);
         emit supportedChanged(supported());
     });
 
-    (void) connect(_managerVehicle, &Vehicle::requestProtocolVersion, this, [this](unsigned version) {
-        Q_UNUSED(version);
-        emit supportedChanged(supported());
-    });
-
     connect(_managerVehicle->parameterManager(), &ParameterManager::parametersReadyChanged, this, &GeoFenceController::_parametersReady);
     _parametersReady();
 
@@ -489,7 +483,7 @@ void GeoFenceController::clearAllInteractive(void)
 
 bool GeoFenceController::supported(void) const
 {
-    return (_managerVehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_FENCE) && (_managerVehicle->maxProtoVersion() >= 200);
+    return _managerVehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_FENCE;
 }
 
 /* Returns the radius of the "paramCircularFence"

src/MissionManager/GeoFenceManager.cc

@@ -193,5 +193,5 @@ void GeoFenceManager::_planManagerLoadComplete(bool removeAllRequested)
 
 bool GeoFenceManager::supported(void) const
 {
-    return (_vehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_FENCE) && (_vehicle->maxProtoVersion() >= 200);
+    return _vehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_FENCE;
 }

src/MissionManager/MavCmdInfoCommon.json

@@ -1145,7 +1145,6 @@
         { "id": 510, "rawName": "MAV_CMD_GET_MESSAGE_INTERVAL", "friendlyName": "Get message interval" },
         { "id": 511, "rawName": "MAV_CMD_SET_MESSAGE_INTERVAL", "friendlyName": "Set message interval" },
         { "id": 512, "rawName": "MAV_CMD_REQUEST_MESSAGE" },
-        { "id": 519, "rawName": "MAV_CMD_REQUEST_PROTOCOL_VERSION" },
         { "id": 520, "rawName": "MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES", "friendlyName": "Get capabilities" },
         {
             "id":           530,

src/MissionManager/RallyPointController.cc

@@ -66,17 +66,11 @@ void RallyPointController::_managerVehicleChanged(Vehicle* managerVehicle)
     connect(_rallyPointManager, &RallyPointManager::removeAllComplete,  this, &RallyPointController::_managerRemoveAllComplete);
     connect(_rallyPointManager, &RallyPointManager::inProgressChanged,  this, &RallyPointController::syncInProgressChanged);
 
-    //-- RallyPointController::supported() tests both the capability bit AND the protocol version.
     (void) connect(_managerVehicle, &Vehicle::capabilityBitsChanged, this, [this](uint64_t capabilityBits) {
         Q_UNUSED(capabilityBits);
         emit supportedChanged(supported());
     });
 
-    (void) connect(_managerVehicle, &Vehicle::requestProtocolVersion, this, [this](unsigned version) {
-        Q_UNUSED(version);
-        emit supportedChanged(supported());
-    });
-
     emit supportedChanged(supported());
 }
 
@@ -261,7 +255,7 @@ void RallyPointController::addPoint(QGeoCoordinate point)
 
 bool RallyPointController::supported(void) const
 {
-    return (_managerVehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_RALLY) && (_managerVehicle->maxProtoVersion() >= 200);
+    return _managerVehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_RALLY;
 }
 
 void RallyPointController::removePoint(QObject* rallyPoint)

src/MissionManager/RallyPointManager.cc

@@ -71,7 +71,7 @@ void RallyPointManager::removeAll(void)
 
 bool RallyPointManager::supported(void) const
 {
-    return (_vehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_RALLY) && (_vehicle->maxProtoVersion() >= 200);
+    return _vehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_RALLY;
 }
 
 void RallyPointManager::_planManagerLoadComplete(bool removeAllRequested)

src/Settings/MavlinkSettings.cc

@@ -47,7 +47,6 @@ DECLARE_SETTINGSFACT(MavlinkSettings, forwardMavlinkHostName)
 DECLARE_SETTINGSFACT(MavlinkSettings, forwardMavlinkAPMSupportHostName)
 DECLARE_SETTINGSFACT(MavlinkSettings, sendGCSHeartbeat)
 DECLARE_SETTINGSFACT(MavlinkSettings, gcsMavlinkSystemID)
-DECLARE_SETTINGSFACT(MavlinkSettings, requireMatchingMavlinkVersions)
 
 DECLARE_SETTINGSFACT_NO_FUNC(MavlinkSettings, mavlink2SigningKey)
 {

src/Settings/MavlinkSettings.h

@@ -33,7 +33,6 @@ class MavlinkSettings : public SettingsGroup
     DEFINE_SETTINGFACT(mavlink2SigningKey)
     DEFINE_SETTINGFACT(sendGCSHeartbeat)
     DEFINE_SETTINGFACT(gcsMavlinkSystemID)
-    DEFINE_SETTINGFACT(requireMatchingMavlinkVersions)
 
     // Although this is a global setting it only affects ArduPilot vehicle since PX4 automatically starts the stream from the vehicle side
     DEFINE_SETTINGFACT(apmStartMavlinkStreams)