Add MAVLink pure mode and config/component cleanup

.gitignore

@@ -35,4 +35,5 @@ docs/node_modules/
 docs/.vitepress/cache/
 docs/.vitepress/dist/
 
+# Fuzzing
 fuzz_corpus

docs/en/cpp/api_reference/classmavsdk_1_1_mavsdk_1_1_configuration.md

@@ -26,6 +26,10 @@ void | [set_always_send_heartbeats](#classmavsdk_1_1_mavsdk_1_1_configuration_1a
 void | [set_component_type](#classmavsdk_1_1_mavsdk_1_1_configuration_1a06461b86734eaa9544e80a4a907c9754) ([ComponentType](namespacemavsdk.md#namespacemavsdk_1a20fe7f7c8312779a187017111bf33d12) component_type) | Set the component type of this configuration.
 uint8_t | [get_mav_type](#classmavsdk_1_1_mavsdk_1_1_configuration_1aafe9e8fc11dd0b688a836c123357e9ba) () const | Get the mav type (vehicle type) of this configuration.
 void | [set_mav_type](#classmavsdk_1_1_mavsdk_1_1_configuration_1a16db98d8802c3427b1be10f0b72b977b) (uint8_t mav_type) | Set the mav type (vehicle type) of this configuration.
+[Autopilot](namespacemavsdk.md#namespacemavsdk_1aba05635d1785223a4d7b457ae0407297) | [get_autopilot](#classmavsdk_1_1_mavsdk_1_1_configuration_1a107d3f21ade989a58b976475ea7b7672) () const | Get the autopilot type for server identification in heartbeats.
+void | [set_autopilot](#classmavsdk_1_1_mavsdk_1_1_configuration_1a9798ed5eb7fb64c492275e970fadc1e7) ([Autopilot](namespacemavsdk.md#namespacemavsdk_1aba05635d1785223a4d7b457ae0407297) autopilot) | Set the autopilot type for server identification.
+[CompatibilityMode](namespacemavsdk.md#namespacemavsdk_1af0f9146b2086797ae56671d20bd29d00) | [get_compatibility_mode](#classmavsdk_1_1_mavsdk_1_1_configuration_1abfe7d151a85c65dc6454ebeb645732ef) () const | Get the compatibility mode.
+void | [set_compatibility_mode](#classmavsdk_1_1_mavsdk_1_1_configuration_1ab26137a0ead379a702b404f6e92d624f) ([CompatibilityMode](namespacemavsdk.md#namespacemavsdk_1af0f9146b2086797ae56671d20bd29d00) mode) | Set the compatibility mode.
 
 
 ## Constructor & Destructor Documentation
@@ -202,4 +206,74 @@ Set the mav type (vehicle type) of this configuration.
 
 **Parameters**
 
-* uint8_t **mav_type** - 
+* uint8_t **mav_type** - 
+
+### get_autopilot() {#classmavsdk_1_1_mavsdk_1_1_configuration_1a107d3f21ade989a58b976475ea7b7672}
+```cpp
+Autopilot mavsdk::Mavsdk::Configuration::get_autopilot() const
+```
+
+
+Get the autopilot type for server identification in heartbeats.
+
+
+**Returns**
+
+ [Autopilot](namespacemavsdk.md#namespacemavsdk_1aba05635d1785223a4d7b457ae0407297) - The autopilot type used in outgoing heartbeats.
+
+### set_autopilot() {#classmavsdk_1_1_mavsdk_1_1_configuration_1a9798ed5eb7fb64c492275e970fadc1e7}
+```cpp
+void mavsdk::Mavsdk::Configuration::set_autopilot(Autopilot autopilot)
+```
+
+
+Set the autopilot type for server identification.
+
+When MAVSDK acts as an autopilot server, this determines the MAV_AUTOPILOT value sent in heartbeats.
+
+
+Default: Autopilot::Unknown (maps to MAV_AUTOPILOT_GENERIC)
+
+**Parameters**
+
+* [Autopilot](namespacemavsdk.md#namespacemavsdk_1aba05635d1785223a4d7b457ae0407297) **autopilot** - 
+
+### get_compatibility_mode() {#classmavsdk_1_1_mavsdk_1_1_configuration_1abfe7d151a85c65dc6454ebeb645732ef}
+```cpp
+CompatibilityMode mavsdk::Mavsdk::Configuration::get_compatibility_mode() const
+```
+
+
+Get the compatibility mode.
+
+
+**Returns**
+
+ [CompatibilityMode](namespacemavsdk.md#namespacemavsdk_1af0f9146b2086797ae56671d20bd29d00) - The current compatibility mode.
+
+### set_compatibility_mode() {#classmavsdk_1_1_mavsdk_1_1_configuration_1ab26137a0ead379a702b404f6e92d624f}
+```cpp
+void mavsdk::Mavsdk::Configuration::set_compatibility_mode(CompatibilityMode mode)
+```
+
+
+Set the compatibility mode.
+
+This determines which autopilot-specific quirks are used:
+<ul>
+<li><p>Auto: Use detected autopilot (default, current behavior)</p>
+</li>
+<li><p>Pure: Pure standard MAVLink, no autopilot-specific quirks</p>
+</li>
+<li><p>Px4: Force PX4 quirks regardless of detection</p>
+</li>
+<li><p>ArduPilot: Force ArduPilot quirks regardless of detection</p>
+</li>
+</ul>
+
+
+Default: [CompatibilityMode::Auto](namespacemavsdk.md#namespacemavsdk_1af0f9146b2086797ae56671d20bd29d00a06b9281e396db002010bde1de57262eb)
+
+**Parameters**
+
+* [CompatibilityMode](namespacemavsdk.md#namespacemavsdk_1af0f9146b2086797ae56671d20bd29d00) **mode** - 

docs/en/cpp/api_reference/namespacemavsdk.md

@@ -59,6 +59,7 @@ Namespace for all mavsdk types.
 Type | Description
 --- | ---
 enum [Autopilot](#namespacemavsdk_1aba05635d1785223a4d7b457ae0407297) | Autopilot type.
+enum [CompatibilityMode](#namespacemavsdk_1af0f9146b2086797ae56671d20bd29d00) | Compatibility mode for MAVLink protocol behavior.
 enum [ComponentType](#namespacemavsdk_1a20fe7f7c8312779a187017111bf33d12) | ComponentType of configurations, used for automatic ID setting.
 enum [ConnectionResult](#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992) | Result type returned when adding a connection.
 enum [ForwardingOption](#namespacemavsdk_1a7066729108eae8a605d4dd169e4581b9) | ForwardingOption for Connection, used to set message forwarding option.
@@ -71,6 +72,7 @@ Type | Name | Description
 std::ostream & | [operator<<](#namespacemavsdk_1ad782054ca8c33116d0210acca8c55ce6) (std::ostream & os, const [Autopilot](namespacemavsdk.md#namespacemavsdk_1aba05635d1785223a4d7b457ae0407297) & autopilot) | Stream operator to print information about an `Autopilot`.
 std::string | [base64_encode](#namespacemavsdk_1a57a9962be22a61e5c36a66bc17e6a2a7) (std::vector< uint8_t > & raw) | Encode raw bytes to a base64 string.
 std::vector< uint8_t > | [base64_decode](#namespacemavsdk_1a34e7609c9e2ddcc72a74bbc79daf9c19) (const std::string & str) | Decode a base64 string into raw bytes.
+std::ostream & | [operator<<](#namespacemavsdk_1aab2fde9b1e274959eb378afef9e0747f) (std::ostream & os, const [CompatibilityMode](namespacemavsdk.md#namespacemavsdk_1af0f9146b2086797ae56671d20bd29d00) & mode) | Stream operator to print information about a `CompatibilityMode`.
 std::ostream & | [operator<<](#namespacemavsdk_1a2aa91d8b846b07fe7f305b399375ce5f) (std::ostream & str, const [ConnectionResult](namespacemavsdk.md#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992) & result) | Stream operator to print information about a `ConnectionResult`.
 &nbsp; | [overloaded](#namespacemavsdk_1a724e321aaff91eb2ba28279e0292e552) (Ts...)-> overloaded< Ts... > | Template deduction helper for `overloaded`
 std::ostream & | [operator<<](#namespacemavsdk_1a3e7a55e89629afd2a079d79c047e8dbd) (std::ostream & os, const [Vehicle](namespacemavsdk.md#namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95b) & vehicle) | Stream operator to print information about a `Vehicle`.
@@ -95,6 +97,24 @@ Value | Description
 <span id="namespacemavsdk_1aba05635d1785223a4d7b457ae0407297a31e54e53a62995611ff9ccc0dd9cb510"></span> `Px4` |  
 <span id="namespacemavsdk_1aba05635d1785223a4d7b457ae0407297a1f79341042063f30812f2942a48d19ed"></span> `ArduPilot` |  
 
+### enum CompatibilityMode {#namespacemavsdk_1af0f9146b2086797ae56671d20bd29d00}
+
+```
+#include: compatibility_mode.h
+```
+
+
+Compatibility mode for MAVLink protocol behavior.
+
+This setting determines which autopilot-specific quirks and behaviors are used when communicating via MAVLink.
+
+Value | Description
+--- | ---
+<span id="namespacemavsdk_1af0f9146b2086797ae56671d20bd29d00a06b9281e396db002010bde1de57262eb"></span> `Auto` | Use detected autopilot (default, current behavior) 
+<span id="namespacemavsdk_1af0f9146b2086797ae56671d20bd29d00ad30973809f2e4238b7eb2bac9241674c"></span> `Pure` | Pure standard MAVLink - no autopilot-specific quirks. 
+<span id="namespacemavsdk_1af0f9146b2086797ae56671d20bd29d00a31e54e53a62995611ff9ccc0dd9cb510"></span> `Px4` | Force PX4 quirks regardless of detection. 
+<span id="namespacemavsdk_1af0f9146b2086797ae56671d20bd29d00a1f79341042063f30812f2942a48d19ed"></span> `ArduPilot` | Force ArduPilot quirks regardless of detection. 
+
 ### enum ComponentType {#namespacemavsdk_1a20fe7f7c8312779a187017111bf33d12}
 
 ```
@@ -269,6 +289,28 @@ Decode a base64 string into raw bytes.
 
 &emsp;std::vector< uint8_t > - Raw bytes
 
+### operator<<() {#namespacemavsdk_1aab2fde9b1e274959eb378afef9e0747f}
+
+```
+#include: compatibility_mode.h
+```
+```cpp
+std::ostream & mavsdk::operator<<(std::ostream &os, const CompatibilityMode &mode)
+```
+
+
+Stream operator to print information about a `CompatibilityMode`.
+
+
+**Parameters**
+
+* std::ostream& **os** - 
+* const [CompatibilityMode](namespacemavsdk.md#namespacemavsdk_1af0f9146b2086797ae56671d20bd29d00)& **mode** - 
+
+**Returns**
+
+&emsp;std::ostream & - A reference to the stream.
+
 ### operator<<() {#namespacemavsdk_1a2aa91d8b846b07fe7f305b399375ce5f}
 
 ```

docs/en/cpp/guide/general_usage.md

@@ -62,6 +62,27 @@ Similarly, other autopilots may well work, but, they are not explicitly supporte
 
 Compatibility with ArduPilot is added piece by piece as functionality is used/tested with it.
 
+### Compatibility Mode {#compatibility_mode}
+
+MAVSDK supports different compatibility modes to handle autopilot-specific behaviors:
+
+- **Auto** (default): Detects the autopilot type from heartbeat messages and applies appropriate quirks for PX4 or ArduPilot.
+- **Pure**: Uses standard MAVLink behavior without autopilot-specific quirks. Useful for testing MAVLink standard compliance of autopilot implementations.
+- **Px4**: Forces PX4-specific behavior regardless of detected autopilot.
+- **ArduPilot**: Forces ArduPilot-specific behavior regardless of detected autopilot.
+
+To set the compatibility mode:
+
+```cpp
+Mavsdk::Configuration config(ComponentType::GroundStation);
+config.set_compatibility_mode(CompatibilityMode::Pure);
+Mavsdk mavsdk(config);
+```
+
+::: info
+In Pure mode, some features that rely on autopilot-specific parameters or protocols will return `Unsupported` (e.g., RTL altitude settings, calibration progress). Flight mode detection may also be limited as it requires MAVLink standard modes support.
+:::
+
 ### Connection Strings {#connection_string}
 
 MAVSDK monitors a specified port for vehicles, see [Connecting to Systems (Vehicles)](../guide/connections.md).

src/mavsdk/core/CMakeLists.txt

@@ -46,6 +46,7 @@ target_sources(mavsdk
     PRIVATE
     autopilot.cpp
     base64.cpp
+    compatibility_mode.cpp
     call_every_handler.cpp
     callback_tracker.cpp
     connection.cpp
@@ -202,6 +203,7 @@ install(TARGETS mavsdk
 install(FILES
     include/mavsdk/autopilot.h
     include/mavsdk/base64.h
+    include/mavsdk/compatibility_mode.h
     include/mavsdk/component_type.h
     include/mavsdk/connection_result.h
     include/mavsdk/deprecated.h

src/mavsdk/core/compatibility_mode.cpp

@@ -0,0 +1,21 @@
+#include "compatibility_mode.h"
+
+namespace mavsdk {
+
+std::ostream& operator<<(std::ostream& os, const CompatibilityMode& mode)
+{
+    switch (mode) {
+        case CompatibilityMode::Auto:
+            return os << "Auto";
+        case CompatibilityMode::Pure:
+            return os << "Pure";
+        case CompatibilityMode::Px4:
+            return os << "Px4";
+        case CompatibilityMode::ArduPilot:
+            return os << "ArduPilot";
+        default:
+            return os << "Unknown";
+    }
+}
+
+} // namespace mavsdk

src/mavsdk/core/flight_mode.cpp

@@ -8,6 +8,8 @@
 
 namespace mavsdk {
 
+// TODO: Implement MAVLink standard modes (MAV_STANDARD_MODE) for Pure mode.
+// Both PX4 and ArduPilot currently use custom/non-standard mode definitions.
 FlightMode
 to_flight_mode_from_custom_mode(Autopilot autopilot, MAV_TYPE mav_type, uint32_t custom_mode)
 {

src/mavsdk/core/include/mavsdk/compatibility_mode.h

@@ -0,0 +1,27 @@
+#pragma once
+
+#include <sstream>
+
+namespace mavsdk {
+
+/**
+ * @brief Compatibility mode for MAVLink protocol behavior.
+ *
+ * This setting determines which autopilot-specific quirks and behaviors
+ * are used when communicating via MAVLink.
+ */
+enum class CompatibilityMode {
+    Auto, ///< Use detected autopilot (default, current behavior)
+    Pure, ///< Pure standard MAVLink - no autopilot-specific quirks
+    Px4, ///< Force PX4 quirks regardless of detection
+    ArduPilot, ///< Force ArduPilot quirks regardless of detection
+};
+
+/**
+ * @brief Stream operator to print information about a `CompatibilityMode`.
+ *
+ * @return A reference to the stream.
+ */
+std::ostream& operator<<(std::ostream& os, const CompatibilityMode& mode);
+
+} // namespace mavsdk

src/mavsdk/core/include/mavsdk/mavsdk.h

@@ -6,6 +6,8 @@
 #include <vector>
 #include <functional>
 
+#include "autopilot.h"
+#include "compatibility_mode.h"
 #include "deprecated.h"
 #include "handle.h"
 #include "system.h"
@@ -260,15 +262,51 @@ class Mavsdk {
          */
         void set_mav_type(uint8_t mav_type);
 
+        /**
+         * @brief Get the autopilot type for server identification in heartbeats.
+         * @return The autopilot type used in outgoing heartbeats.
+         */
+        Autopilot get_autopilot() const;
+
+        /**
+         * @brief Set the autopilot type for server identification.
+         *
+         * When MAVSDK acts as an autopilot server, this determines
+         * the MAV_AUTOPILOT value sent in heartbeats.
+         *
+         * Default: Autopilot::Unknown (maps to MAV_AUTOPILOT_GENERIC)
+         */
+        void set_autopilot(Autopilot autopilot);
+
+        /**
+         * @brief Get the compatibility mode.
+         * @return The current compatibility mode.
+         */
+        CompatibilityMode get_compatibility_mode() const;
+
+        /**
+         * @brief Set the compatibility mode.
+         *
+         * This determines which autopilot-specific quirks are used:
+         * - Auto: Use detected autopilot (default, current behavior)
+         * - Pure: Pure standard MAVLink, no autopilot-specific quirks
+         * - Px4: Force PX4 quirks regardless of detection
+         * - ArduPilot: Force ArduPilot quirks regardless of detection
+         *
+         * Default: CompatibilityMode::Auto
+         */
+        void set_compatibility_mode(CompatibilityMode mode);
+
     private:
         uint8_t _system_id;
         uint8_t _component_id;
         bool _always_send_heartbeats;
         ComponentType _component_type;
         MAV_TYPE _mav_type;
+        Autopilot _autopilot{Autopilot::Unknown};
+        CompatibilityMode _compatibility_mode{CompatibilityMode::Auto};
 
         static ComponentType component_type_for_component_id(uint8_t component_id);
-        static MAV_TYPE mav_type_for_component_type(ComponentType component_type);
     };
 
     /**

src/mavsdk/core/include/mavsdk/server_component.h

@@ -19,7 +19,7 @@ class ServerComponent {
      *
      * This constructor is not (and should not be) directly called by application code.
      */
-    ServerComponent(MavsdkImpl& mavsdk_impl, uint8_t component_id);
+    ServerComponent(MavsdkImpl& mavsdk_impl, uint8_t component_id, uint8_t mav_type);
 
     /**
      * @brief Destructor.

src/mavsdk/core/mavlink_command_sender.cpp

@@ -531,7 +531,7 @@ float MavlinkCommandSender::maybe_reserved(const std::optional<float>& maybe_par
         return maybe_param.value();
 
     } else {
-        if (_system_impl.autopilot() == Autopilot::ArduPilot) {
+        if (_system_impl.effective_autopilot() == Autopilot::ArduPilot) {
             return 0.0f;
         } else {
             return NAN;

src/mavsdk/core/mavlink_mission_transfer_client_test.cpp

@@ -47,7 +47,7 @@ class MavlinkMissionTransferClientTest : public ::testing::Test {
         ON_CALL(mock_sender, get_own_system_id()).WillByDefault(Return(own_address.system_id));
         ON_CALL(mock_sender, get_own_component_id())
             .WillByDefault(Return(own_address.component_id));
-        ON_CALL(mock_sender, autopilot()).WillByDefault(Return(Autopilot::Px4));
+        ON_CALL(mock_sender, compatibility_mode()).WillByDefault(Return(CompatibilityMode::Auto));
     }
 
     MockSender mock_sender;

src/mavsdk/core/mavlink_mission_transfer_server_test.cpp

@@ -48,7 +48,7 @@ class MavlinkMissionTransferServerTest : public ::testing::Test {
         ON_CALL(mock_sender, get_own_system_id()).WillByDefault(Return(own_address.system_id));
         ON_CALL(mock_sender, get_own_component_id())
             .WillByDefault(Return(own_address.component_id));
-        ON_CALL(mock_sender, autopilot()).WillByDefault(Return(Autopilot::Px4));
+        ON_CALL(mock_sender, compatibility_mode()).WillByDefault(Return(CompatibilityMode::Auto));
     }
 
     static ItemInt make_item(uint8_t type, uint16_t sequence)

src/mavsdk/core/mavlink_parameter_server.cpp

@@ -539,7 +539,7 @@ void MavlinkParameterServer::do_work()
                 } else {
                     LogWarn() << "sending not extended message";
                     float param_value;
-                    if (_sender.autopilot() == Autopilot::ArduPilot) {
+                    if (_sender.compatibility_mode() == CompatibilityMode::ArduPilot) {
                         param_value = work->param_value.get_4_float_bytes_cast();
                     } else {
                         param_value = work->param_value.get_4_float_bytes_bytewise();