mavlink · HTRamsey · Jun 4, 2024
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -168,7 +168,6 @@ find_package(Qt6
     REQUIRED
     COMPONENTS
         Bluetooth
-        Charts
         Concurrent
         Core
         Core5Compat
@@ -188,7 +187,9 @@ find_package(Qt6
         Widgets
         Xml
     OPTIONAL_COMPONENTS
+        Charts
         LinguistTools
+        Quick3D
         SerialPort
     HINTS
         ${QT_LIBRARY_HINTS}
@@ -217,8 +218,6 @@ if(QGC_BUILD_TESTING)
     add_compile_definitions(UNITTEST_BUILD) # TODO: QGC_UNITTEST_BUILD
 endif()
 
-# option(QGC_DISABLE_MAVLINK_INSPECTOR "Disable Mavlink Inspector" OFF) # This removes QtCharts which is GPL licensed
-
 cmake_dependent_option(QGC_DEBUG_QML "Build QGroundControl with QML debugging/profiling support." OFF "CMAKE_BUILD_TYPE STREQUAL Debug" OFF)
 if(QGC_DEBUG_QML)
     message(STATUS "To enable the QML debugger/profiler, run with: '-qmljsdebugger=port:1234'")
@@ -227,8 +226,9 @@ endif()
 
 cmake_dependent_option(QGC_NO_SERIAL_LINK "Build QGroundControl without Serial Support Support." OFF "NOT IOS" ON)
 
-if(QGC_DISABLE_APM_MAVLINK)
-    add_compile_definitions(NO_ARDUPILOT_DIALECT)
+if(QGC_LGPL_COMPATIBLE)
+    set(QGC_DISABLE_VIEWER3D ON CACHE INTERNAL "" FORCE)
+    set(QGC_DISABLE_MAVLINK_INSPECTOR ON CACHE INTERNAL "" FORCE)
 endif()
 
 if("${CMAKE_OSX_ARCHITECTURES}" MATCHES "arm64;x86_64" OR "${CMAKE_OSX_ARCHITECTURES}" MATCHES "x86_64;arm64")

diff --git a/cmake/CustomOptions.cmake b/cmake/CustomOptions.cmake
@@ -17,3 +17,5 @@ option(QGC_DISABLE_APM_PLUGIN_FACTORY "Disable APM Plugin Factory" OFF)
 # PX4
 option(QGC_DISABLE_PX4_PLUGIN "Disable PX4 Plugin" OFF)
 option(QGC_DISABLE_PX4_PLUGIN_FACTORY "Disable PX4 Plugin Factory" OFF)
+
+option(QGC_LGPL_COMPATIBLE "Disable Dependencies that are LGPL Incompatible" OFF)
diff --git a/src/AnalyzeView/CMakeLists.txt b/src/AnalyzeView/CMakeLists.txt
@@ -1,4 +1,4 @@
-find_package(Qt6 REQUIRED COMPONENTS Core Charts Gui Qml QmlIntegration)
+find_package(Qt6 REQUIRED COMPONENTS Core Gui Qml QmlIntegration)
 
 qt_add_library(AnalyzeView STATIC
     ExifParser.cc
@@ -11,18 +11,8 @@ qt_add_library(AnalyzeView STATIC
     LogDownloadController.h
     LogEntry.cc
     LogEntry.h
-    MAVLinkChartController.cc
-    MAVLinkChartController.h
     MAVLinkConsoleController.cc
     MAVLinkConsoleController.h
-    MAVLinkInspectorController.cc
-    MAVLinkInspectorController.h
-    MAVLinkMessage.cc
-    MAVLinkMessage.h
-    MAVLinkMessageField.cc
-    MAVLinkMessageField.h
-    MAVLinkSystem.cc
-    MAVLinkSystem.h
     PX4LogParser.cc
     PX4LogParser.h
     ULogParser.cc
@@ -39,7 +29,6 @@ FetchContent_MakeAvailable(ulogparser)
 
 target_link_libraries(AnalyzeView
     PRIVATE
-        Qt6::Charts
         Qt6::Gui
         Qt6::Qml
         ulog_cpp::ulog_cpp
@@ -69,7 +58,7 @@ target_sources(AnalyzeView
         ${easyexif_SOURCE_DIR}/exif.h
 )
 
-target_include_directories(AnalyzeView 
+target_include_directories(AnalyzeView
     PUBLIC
         ${CMAKE_CURRENT_SOURCE_DIR}
         ${easyexif_SOURCE_DIR}
@@ -79,37 +68,61 @@ target_include_directories(AnalyzeView
 #     URI QGroundControl.AnalyzeView
 #     VERSION 1.0
 #     QML_FILES
-#       AnalyzePage.qml
-#       AnalyzeView.qml
-#       GeoTagPage.qml
-#       LogDownloadPage.qml
-#       MAVLinkConsolePage.qml
-#       MAVLinkInspectorPage.qml
-#       VibrationPage.qml
+#         AnalyzePage.qml
+#         AnalyzeView.qml
+#         GeoTagPage.qml
+#         LogDownloadPage.qml
+#         MAVLinkConsolePage.qml
+#         MAVLinkInspectorPage.qml
+#         VibrationPage.qml
 #     RESOURCES
-#       FloatingWindow.svg
-#       GeoTagIcon.svg
-#       LogDownloadIcon.svg
-#       MAVLinkConsoleIcon.svg
-#       MAVLinkInspector.svg
-#       VibrationPageIcon.png
+#         FloatingWindow.svg
+#         GeoTagIcon.svg
+#         LogDownloadIcon.svg
+#         MAVLinkConsoleIcon.svg
+#         MAVLinkInspector.svg
+#         VibrationPageIcon.png
 #     OUTPUT_TARGETS AnalyzeView_targets
 #     IMPORT_PATH ${QT_QML_OUTPUT_DIRECTORY}
 #     IMPORTS
-#       QtQuick
-#       QtQuick.Controls
-#       QtQuick.Dialogs
-#       QtQuick.Layouts
-#       QtQuick.Window
-#       QtCharts
-#       Qt.labs.qmlmodels
-#       QGroundControl
-#       QGroundControl.Palette
-#       QGroundControl.Controls
-#       QGroundControl.Controllers
-#       QGroundControl.FactSystem
-#       QGroundControl.FactControls
-#       QGroundControl.ScreenTools
+#         QtQuick
+#         QtQuick.Controls
+#         QtQuick.Dialogs
+#         QtQuick.Layouts
+#         QtQuick.Window
+#         QtCharts
+#         Qt.labs.qmlmodels
+#         QGroundControl
+#         QGroundControl.Palette
+#         QGroundControl.Controls
+#         QGroundControl.Controllers
+#         QGroundControl.FactSystem
+#         QGroundControl.FactControls
+#         QGroundControl.ScreenTools
 #     DEPENDENCIES
 #         QtCore
 # )
+
+find_package(Qt6 REQUIRED OPTIONAL_COMPONENTS Charts)
+cmake_dependent_option(QGC_DISABLE_MAVLINK_INSPECTOR "Disable Mavlink Inspector" OFF "Qt6Charts_FOUND" ON) # This removes QtCharts which is GPL licensed
+if(NOT QGC_DISABLE_MAVLINK_INSPECTOR)
+    target_sources(AnalyzeView
+        PRIVATE
+            MAVLinkChartController.cc
+            MAVLinkChartController.h
+            MAVLinkInspectorController.cc
+            MAVLinkInspectorController.h
+            MAVLinkMessage.cc
+            MAVLinkMessage.h
+            MAVLinkMessageField.cc
+            MAVLinkMessageField.h
+            MAVLinkSystem.cc
+            MAVLinkSystem.h
+    )
+    target_link_libraries(AnalyzeView
+        PRIVATE
+            Qt6::Charts
+    )
+else()
+    target_compile_definitions(AnalyzeView PUBLIC QGC_DISABLE_MAVLINK_INSPECTOR)
+endif()
diff --git a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc
@@ -15,7 +15,9 @@
 #include "APMFlightModesComponent.h"
 #include "APMRadioComponent.h"
 #include "APMSafetyComponent.h"
+#ifndef DISABLE_APMTUNINGCOMPONENT
 #include "APMTuningComponent.h"
+#endif
 #include "APMSensorsComponent.h"
 #include "APMPowerComponent.h"
 #include "APMMotorComponent.h"
@@ -120,9 +122,11 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
                 _components.append(QVariant::fromValue((VehicleComponent*)_heliComponent));
             }
 
-            _tuningComponent = new APMTuningComponent(_vehicle, this);
-            _tuningComponent->setupTriggerSignals();
-            _components.append(QVariant::fromValue((VehicleComponent*)_tuningComponent));
+            #ifndef DISABLE_APMTUNINGCOMPONENT
+                _tuningComponent = new APMTuningComponent(_vehicle, this);
+                _tuningComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_tuningComponent));
+            #endif
 
             if(_vehicle->parameterManager()->parameterExists(-1, "MNT1_TYPE")) {
                 _cameraComponent = new APMCameraComponent(_vehicle, this);
@@ -180,8 +184,10 @@ QString APMAutoPilotPlugin::prerequisiteSetup(VehicleComponent* component) const
         requiresAirframeCheck = true;
     } else if (qobject_cast<const APMSafetyComponent*>(component)) {
         requiresAirframeCheck = true;
+    #ifndef DISABLE_APMTUNINGCOMPONENT
     } else if (qobject_cast<const APMTuningComponent*>(component)) {
         requiresAirframeCheck = true;
+    #endif
     } else if (qobject_cast<const APMSensorsComponent*>(component)) {
         requiresAirframeCheck = true;
     }

diff --git a/src/AutoPilotPlugins/APM/CMakeLists.txt b/src/AutoPilotPlugins/APM/CMakeLists.txt
@@ -39,10 +39,18 @@ qt_add_library(APMAutoPilotPlugin STATIC
     APMSubFrameComponent.h
     APMSubMotorComponentController.cc
     APMSubMotorComponentController.h
-    APMTuningComponent.cc
-    APMTuningComponent.h
 )
 
+if(NOT QGC_LGPL_COMPATIBLE)
+    target_sources(APMAutoPilotPlugin
+        PRIVATE
+            APMTuningComponent.cc
+            APMTuningComponent.h
+    )
+else()
+    target_compile_definitions(APMAutoPilotPlugin PUBLIC DISABLE_APMTUNINGCOMPONENT)
+endif()
+
 target_link_libraries(APMAutoPilotPlugin
     PRIVATE
         APMFirmwarePlugin

diff --git a/src/AutoPilotPlugins/PX4/CMakeLists.txt b/src/AutoPilotPlugins/PX4/CMakeLists.txt
@@ -27,8 +27,6 @@ qt_add_library(PX4AutoPilotPlugin STATIC
     PX4RadioComponent.h
     PX4SimpleFlightModesController.cc
     PX4SimpleFlightModesController.h
-    PX4TuningComponent.cc
-    PX4TuningComponent.h
     SafetyComponent.cc
     SafetyComponent.h
     SensorsComponent.cc
@@ -37,6 +35,16 @@ qt_add_library(PX4AutoPilotPlugin STATIC
     SensorsComponentController.h
 )
 
+if(NOT QGC_LGPL_COMPATIBLE)
+    target_sources(PX4AutoPilotPlugin
+        PRIVATE
+            PX4TuningComponent.cc
+            PX4TuningComponent.h
+    )
+else()
+    target_compile_definitions(PX4AutoPilotPlugin PUBLIC DISABLE_PX4TUNINGCOMPONENT)
+endif()
+
 target_link_libraries(PX4AutoPilotPlugin
     PRIVATE
         Comms

diff --git a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
@@ -13,7 +13,9 @@
 #include "QGCApplication.h"
 #include "FlightModesComponent.h"
 #include "PX4RadioComponent.h"
+#ifndef DISABLE_PX4TUNINGCOMPONENT
 #include "PX4TuningComponent.h"
+#endif
 #include "PowerComponent.h"
 #include "SafetyComponent.h"
 #include "SensorsComponent.h"
@@ -104,9 +106,11 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
                 _safetyComponent->setupTriggerSignals();
                 _components.append(QVariant::fromValue(static_cast<VehicleComponent*>(_safetyComponent)));
 
-                _tuningComponent = new PX4TuningComponent(_vehicle, this, this);
-                _tuningComponent->setupTriggerSignals();
-                _components.append(QVariant::fromValue(static_cast<VehicleComponent*>(_tuningComponent)));
+                #ifndef DISABLE_PX4TUNINGCOMPONENT
+                    _tuningComponent = new PX4TuningComponent(_vehicle, this, this);
+                    _tuningComponent->setupTriggerSignals();
+                    _components.append(QVariant::fromValue(static_cast<VehicleComponent*>(_tuningComponent)));
+                #endif
 
                 if(_vehicle->parameterManager()->parameterExists(_vehicle->id(), "SYS_VEHICLE_RESP")) {
                     _flightBehavior = new PX4FlightBehavior(_vehicle, this, this);
@@ -175,8 +179,10 @@ QString PX4AutoPilotPlugin::prerequisiteSetup(VehicleComponent* component) const
         if (_vehicle->parameterManager()->getParameter(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
             requiresAirframeCheck = true;
         }
+#ifndef DISABLE_PX4TUNINGCOMPONENT
     } else if (qobject_cast<const PX4TuningComponent*>(component)) {
         requiresAirframeCheck = true;
+#endif
     } else if (qobject_cast<const PowerComponent*>(component)) {
         requiresAirframeCheck = true;
     } else if (qobject_cast<const SafetyComponent*>(component)) {

diff --git a/src/FlightDisplay/FlyView.qml b/src/FlightDisplay/FlyView.qml
@@ -36,6 +36,7 @@ Item {
     // These should only be used by MainRootWindow
     property var planController:    _planController
     property var guidedController:  _guidedController
+    property var viewer3DWindow:  view3DManagerLoader.active ? view3DManagerLoader.item : null
 
     // Properties of UTM adapter
     property bool utmspSendActTrigger: false
@@ -100,7 +101,7 @@ Item {
             pipMode:                !_mainWindowIsMap
             toolInsets:             customOverlay.totalToolInsets
             mapName:                "FlightDisplayView"
-            enabled:                !viewer3DWindow.isOpen
+            enabled:                view3DManagerLoader.active && !viewer3DWindow.isOpen
         }
 
         FlyViewVideo {
@@ -135,7 +136,7 @@ Item {
             mapControl:             _mapControl
             visible:                !QGroundControl.videoManager.fullScreen
             utmspActTrigger:        utmspSendActTrigger
-            isViewer3DOpen:         viewer3DWindow.isOpen
+            isViewer3DOpen:         view3DManagerLoader.active && viewer3DWindow.isOpen
         }
 
         FlyViewCustomLayer {
@@ -186,9 +187,14 @@ Item {
             visible:            false
         }
 
-        Viewer3D{
-            id:                     viewer3DWindow
-            anchors.fill:           parent
+        Loader {
+            id: view3DManagerLoader
+            active: QGroundControl.has3DViewer
+            source: "qrc:/Viewer3D/Viewer3D.qml"
+            // sourceComponent: Viewer3D {
+            //     id: viewer3DWindow
+            //     anchors.fill: parent
+            // }
         }
     }
 }
diff --git a/src/QGCApplication.cc b/src/QGCApplication.cc
@@ -98,9 +98,9 @@
 #include "AudioOutput.h"
 #include "FollowMe.h"
 #include "JsonHelper.h"
-// #ifdef QGC_VIEWER3D
+#ifndef QGC_DISABLE_VIEWER3D
 #include "Viewer3DManager.h"
-// #endif
+#endif
 #include "GimbalController.h"
 #ifndef NO_SERIAL_LINK
 #include "FirmwareUpgradeController.h"
@@ -341,9 +341,9 @@ void QGCApplication::init()
     qmlRegisterSingletonType<ScreenToolsController>  ("QGroundControl.ScreenToolsController", 1, 0, "ScreenToolsController",  screenToolsControllerSingletonFactory);
 
 
-    // #ifdef QGC_VIEWER3D
+#ifndef QGC_DISABLE_VIEWER3D
     Viewer3DManager::registerQmlTypes();
-    // #endif
+#endif
 
     qmlRegisterUncreatableType<Autotune>              ("QGroundControl.Vehicle",   1, 0, "Autotune",               "Reference only");
     qmlRegisterUncreatableType<RemoteIDManager>       ("QGroundControl.Vehicle",   1, 0, "RemoteIDManager",        "Reference only");

diff --git a/src/QmlControls/CMakeLists.txt b/src/QmlControls/CMakeLists.txt
@@ -95,6 +95,7 @@ target_link_libraries(QmlControls
         UTMSP
         Vehicle
         VideoManager
+        Viewer3D
 )
 
 target_include_directories(QmlControls PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

diff --git a/src/QmlControls/QGroundControlQmlGlobal.h b/src/QmlControls/QGroundControlQmlGlobal.h
@@ -119,6 +119,7 @@ class QGroundControlQmlGlobal : public QGCTool
     Q_PROPERTY(int      mavlinkSystemID         READ mavlinkSystemID            WRITE setMavlinkSystemID            NOTIFY mavlinkSystemIDChanged)
     Q_PROPERTY(bool     hasAPMSupport           READ hasAPMSupport              CONSTANT)
     Q_PROPERTY(bool     hasMAVLinkInspector     READ hasMAVLinkInspector        CONSTANT)
+    Q_PROPERTY(bool     has3DViewer             READ has3DViewer                CONSTANT)
 
 
     //-------------------------------------------------------------------------
@@ -218,6 +219,12 @@ class QGroundControlQmlGlobal : public QGCTool
     bool    hasMAVLinkInspector     () { return true; }
 #endif
 
+#if defined(QGC_DISABLE_VIEWER3D)
+    bool    has3DViewer             () { return false; }
+#else
+    bool    has3DViewer             () { return true; }
+#endif
+
     static QString elevationProviderName   ();
     static QString elevationProviderNotice ();
-Original file line number
+Diff line change
@@ Expand Up / @@ -95,6 +95,7 @@ target_link_libraries(QmlControls @@
             UTMSP
             Vehicle
             VideoManager
+            Viewer3D
     )
     target_include_directories(QmlControls PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
@@ Expand Down @@