QGC communicates with flight stacks using MAVLink, a very lightweight messaging protocol that has been designed for the drone ecosystem.
QGC includes the all.xml dialect by default. The
all.xml includes all other dialects in the mavlink/mavlink repository, and allows it to communicate with both PX4 and Ardupilot. Previous versions of QGC (v4.2.8 and earlier), used the
To modify the version of MAVLink used by QGC:
- Replace the pre-build C library at /qgroundcontrol/libs/mavlink/include/mavlink.
- You can change the whole dialect used by setting it in
MAVLINK_CONFwhen running qmake.