Add MAVLink pure mode and config/component cleanup #2746
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The value is set by the configuration of the component, so that should be the same. That being said, we have to rethink configuration and components of Mavsdk instances at some point.
Add CompatibilityMode enum (Auto, Pure, Px4, ArduPilot) to allow overriding detected autopilot behavior per MAVSDK instance. Add Configuration methods: - get/set_autopilot(): Configure MAV_AUTOPILOT value sent in heartbeats - get/set_compatibility_mode(): Override detected autopilot behavior Changes: - New CompatibilityMode enum for behavior override - Configurable server autopilot identification in heartbeats - Sender interface changed from autopilot() to compatibility_mode() - Added effective_autopilot() to SystemImpl for plugin behavior decisions
This can be overridden if we have compatibility mode set.
This commit adds a few checks and notes around a MAVLink pure mode that can be used to test autopilots whether they support the MAVLink standard as it is specced (or not). The changes are by no means complete or necessarily correct, just an attempt in that direction.
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JonasVautherin
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Jan 25, 2026
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This revives my pull request from 2022 (#1815) and adds a pure compatibility mode which can be used to test autopilots against what is specced (or not) by the MAVLink standard.
Along with this come a few config and component cleanup commits.