delete obsolete mavsdk

OpenHD · Sep 19, 2023 · 65c98d9 · 65c98d9
1 parent f6e9659
commit 65c98d9
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Showing 12 changed files with 18 additions and 36 deletions.
diff --git a/.github/workflows/ios.yml.txt b/.github/workflows/ios.yml.txt
@@ -29,8 +29,7 @@ jobs:
 
       - name: Install Dependencies
         run: |
-
-          sudo ./build_install_mavsdk_static.sh
+          # TODO ?
 
       - name: Build with make
         run: |

diff --git a/QOpenHD.pro b/QOpenHD.pro
@@ -76,7 +76,7 @@ INCLUDEPATH += $$PWD/lib
 INCLUDEPATH += $$PWD/app
 INCLUDEPATH += $$PWD/app/exp
 
-# QOpenHD telemetry (mavlink, partially based on MAVSDK) features
+# QOpenHD telemetry (mavlink)
 # REQUIRED - without it QOpenHD will compile, but be pretty much non functional
 include(app/telemetry/telemetry.pri)
 
@@ -231,7 +231,7 @@ JetsonBuild {
 }
 
 WindowsBuild {
-    # This aparently makes qt use absolute paths, otherwise we get problems with mavsdk
+    # This aparently makes qt use absolute paths, otherwise we get compile issues ?
     QMAKE_PROJECT_DEPTH = 0
 }
 

diff --git a/README.md b/README.md
@@ -76,13 +76,11 @@ We have a CI setup that checks compilation on Ubuntu. You can review the steps i
 4. Download Qt 5.15.0+ for Android (not for the OS you're building on).
 5. Clone the source code as mentioned earlier.
 
-### Building MAVSDK (REQUIRED)
+### Building QOpenHD
 
-QOpenHD relies on the MAVSDK library. After recursively cloning qopenhd, build and install it:
-```
-./build_install_mavsdk_static.sh
-```
-You can then build QOpenHD by opening it in QT Creator or building it with the following commands:
+Step 1) clone this repository with --recurse-submodules
+Step 2) install all dependencies 
+Step 3) recommended - open in QT creator. Otherwise, you can build QOpenHD via the command line:
 ```
 mkdir build
 cd build

diff --git a/app/telemetry/MavlinkTelemetry.cpp b/app/telemetry/MavlinkTelemetry.cpp
@@ -248,7 +248,7 @@ void MavlinkTelemetry::ping_all_systems()
     mavlink_message_t msg;
     mavlink_timesync_t timesync{};
     timesync.tc1=0;
-    // NOTE: MAVSDK does time in nanoseconds by default
+    // Ardupilot seems to use us
     m_last_timesync_out_us=QOpenHDMavlinkHelper::getTimeMicroseconds();
     timesync.ts1=m_last_timesync_out_us;
     mavlink_msg_timesync_encode(QOpenHDMavlinkHelper::get_own_sys_id(),QOpenHDMavlinkHelper::get_own_comp_id(),&msg,&timesync);

diff --git a/app/telemetry/MavlinkTelemetry.h b/app/telemetry/MavlinkTelemetry.h
@@ -15,15 +15,15 @@
 #include "connection/tcp_connection.h"
 
 /**
- * Changed: Used to have custom UDP and TCP stuff, but now just uses MAVSDK - MAVSDK already has both TCP and UDP support.
  *
  * @brief This is the one and only (mavlink telemetry) connection of QOpenHD to OpenHD
  * (More specific, the OpenHD Ground Station - but since the Ground station forwards messages to the air pi,
  * one can indirectly also reach the air pi via the ground pi, as well as the mavlink FC connected to the air pi).
  * Its functionalities are simple:
+ * 1) "Connecting to the ground unit (either UDP or TCP)"
  * 1) sending mavlink messages to OpenHD
  * 2) receiving mavlink messages from OpenHD
- * 3) Handling the mavsdk "system discovery" for our OpenHD mavlink network, which is defined by
+ * 3) Handling the "system discovery" for our OpenHD mavlink network, which is defined by
  *      a) OHD Air unit (own sys id)
  *      b) OHD Ground unit (own sys id)
  *      c) Optional FC connected to the air unit

diff --git a/app/telemetry/models/fcmavlinksystem.cpp b/app/telemetry/models/fcmavlinksystem.cpp
@@ -143,7 +143,7 @@ bool FCMavlinkSystem::process_message(const mavlink_message_t &msg)
         break;
     }
     case MAVLINK_MSG_ID_PARAM_VALUE:{
-        // handled by params mavsdk
+        // handled by XParam
         break;
     }
     case MAVLINK_MSG_ID_GPS_RAW_INT:{
@@ -452,7 +452,7 @@ bool FCMavlinkSystem::process_message(const mavlink_message_t &msg)
     case MAVLINK_MSG_ID_EXTENDED_SYS_STATE:{
         break;
     }
-        // Commands and Params are done by mavsdk
+        // Commands and Params are done by XParam / XCommand
     case MAVLINK_MSG_ID_PARAM_EXT_ACK:
     case MAVLINK_MSG_ID_PARAM_EXT_VALUE:
     case MAVLINK_MSG_ID_COMMAND_ACK:

diff --git a/app/telemetry/settings/mavlinksettingsmodel.h b/app/telemetry/settings/mavlinksettingsmodel.h
@@ -91,7 +91,6 @@ public slots:
     const uint8_t m_sys_id;
     const uint8_t m_comp_id;
     bool is_param_whitelisted(const std::string param_id)const;
-    // The error codes are a bit less than what mavsdk returns, since we can merge some of them into a "unknown-this should never happen" value
     enum class SetParamResult{
         BUSY, // Too many params queued up
         NO_CONNECTION, // Most likely all retransmitts failed, cannot be completely avoided

diff --git a/app/telemetry/util/mavlink_include.h b/app/telemetry/util/mavlink_include.h
@@ -1,8 +1,6 @@
 #ifndef MAVLINK_INCLUDE_H
 #define MAVLINK_INCLUDE_H
 
-// We get mavlink from mavsdk
-//#include <mavsdk/plugins/mavlink_passthrough/mavlink_passthrough.h>
 
 #include "../../../lib/mavlink-headers/mavlink/v2.0/openhd/mavlink.h"
 

diff --git a/build_install_mavsdk_static.sh b/build_install_mavsdk_static.sh
diff --git a/install_build_dep.sh b/install_build_dep.sh
@@ -21,9 +21,6 @@ PLATFORM_PACKAGES=""
 }
 function install_rock_packages {
 PLATFORM_PACKAGES="qml-module-qt-labs-platform"
-}
-function install_mavsdk {
-bash build_install_mavsdk_static.sh || exit 1
 }
 
  # Add OpenHD Repository platform-specific packages
@@ -67,6 +64,3 @@ bash build_install_mavsdk_static.sh || exit 1
 # Installing python packages
 gem install fpm
 
-# Building MAVSDK
-install_mavsdk
-
diff --git a/lib/Readme.md b/lib/Readme.md
@@ -1,9 +1,10 @@
 Here are all the external libraries for QOpenHD
 
-MAVSDK needs to be built and installed on your system to compile QOpenHD
-The other libraries are built and included directly during the QOpenHD compilation process (qmake-compatible).
+(Github submodules)
+
+Since QT is really bad at linking to non-qt libraries, we do not use any code / libraries we cannot build
+diectly in this application (except ffmpeg / gstreamer for video)
 
 NOTE on mavlink:
 
-We use a custom mavlink flavour (openhd). However, we also use MAVSDK for QOpenHD, and mavlink comes with MAVSDK by default.
-Therefore, we don't have mavlink as a submodule here, but rather MAVSDK.
+We use a custom mavlink flavour (openhd).
diff --git a/qml/ui/elements/AppSettings.qml b/qml/ui/elements/AppSettings.qml
@@ -383,7 +383,7 @@ Settings {
 
     // really really dirty, i want to get rid of it as soon as possible
     property bool dirty_enable_inav_hacks: false
-    // FC discovery - annoying mavsdk
+    // FC discovery - can be annoying / tricky
     property bool dirty_enable_mavlink_fc_sys_id_check: false
 
     property int custom_cursor_type: 0