Vehicle.cc

}

int Vehicle::joystickMode(void)
{
    return _joystickMode;
}

void Vehicle::setJoystickMode(int mode)
{
    if (mode < 0 || mode >= JoystickModeMax) {
        qCWarning(VehicleLog) << "Invalid joystick mode" << mode;
        return;
    }

    _joystickMode = (JoystickMode_t)mode;
    _saveSettings();
    emit joystickModeChanged(mode);
}

QStringList Vehicle::joystickModes(void)
{
    QStringList list;

    list << "Normal" << "Attitude" << "Position" << "Force" << "Velocity";

    return list;
}

bool Vehicle::joystickEnabled(void)
{
    return _joystickEnabled;
}

void Vehicle::setJoystickEnabled(bool enabled)
{
    _joystickEnabled = enabled;
    _startJoystick(_joystickEnabled);
    _saveSettings();
    emit joystickEnabledChanged(_joystickEnabled);
}

void Vehicle::_startJoystick(bool start)
{
#ifndef __mobile__
    Joystick* joystick = _joystickManager->activeJoystick();
    if (joystick) {
        if (start) {
            if (_joystickEnabled) {
                joystick->startPolling(this);
            }
        } else {
            joystick->stopPolling();
        }
    }
#else
    Q_UNUSED(start);
#endif
}

bool Vehicle::active(void)
{
    return _active;
}

void Vehicle::setActive(bool active)
{
    _active = active;

    _startJoystick(_active);
}

QmlObjectListModel* Vehicle::missionItemsModel(void)
{
    return missionManager()->missionItems();
}

bool Vehicle::homePositionAvailable(void)
{
    return _homePositionAvailable;
}

QGeoCoordinate Vehicle::homePosition(void)
{
    return _homePosition;
}

void Vehicle::setArmed(bool armed)
{
    // We specifically use COMMAND_LONG:MAV_CMD_COMPONENT_ARM_DISARM since it is supported by more flight stacks.

    mavlink_message_t msg;
    mavlink_command_long_t cmd;

    cmd.command = (uint16_t)MAV_CMD_COMPONENT_ARM_DISARM;
    cmd.confirmation = 0;
    cmd.param1 = armed ? 1.0f : 0.0f;
    cmd.param2 = 0.0f;
    cmd.param3 = 0.0f;
    cmd.param4 = 0.0f;
    cmd.param5 = 0.0f;
    cmd.param6 = 0.0f;
    cmd.param7 = 0.0f;
    cmd.target_system = id();
    cmd.target_component = 0;

    mavlink_msg_command_long_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &cmd);

    sendMessage(msg);
}

bool Vehicle::flightModeSetAvailable(void)
{
    return _firmwarePlugin->isCapable(FirmwarePlugin::SetFlightModeCapability);
}

QStringList Vehicle::flightModes(void)
{
    return _firmwarePlugin->flightModes();
}

QString Vehicle::flightMode(void)
{
    return _firmwarePlugin->flightMode(_base_mode, _custom_mode);
}

void Vehicle::setFlightMode(const QString& flightMode)
{
    uint8_t     base_mode;
    uint32_t    custom_mode;

    if (_firmwarePlugin->setFlightMode(flightMode, &base_mode, &custom_mode)) {
        // setFlightMode will only set MAV_MODE_FLAG_CUSTOM_MODE_ENABLED in base_mode, we need to move back in the existing
        // states.
        uint8_t newBaseMode = _base_mode & ~MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE;
        newBaseMode |= base_mode;

        mavlink_message_t msg;
        mavlink_msg_set_mode_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, id(), newBaseMode, custom_mode);
        sendMessage(msg);
    } else {
        qWarning() << "FirmwarePlugin::setFlightMode failed, flightMode:" << flightMode;
    }
}

bool Vehicle::hilMode(void)
{
    return _base_mode & MAV_MODE_FLAG_HIL_ENABLED;
}

void Vehicle::setHilMode(bool hilMode)
{
    mavlink_message_t msg;

    uint8_t newBaseMode = _base_mode & ~MAV_MODE_FLAG_DECODE_POSITION_HIL;
    if (hilMode) {
        newBaseMode |= MAV_MODE_FLAG_HIL_ENABLED;
    }

    mavlink_msg_set_mode_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, id(), newBaseMode, _custom_mode);
    sendMessage(msg);
}

bool Vehicle::missingParameters(void)
{
    return _autopilotPlugin->missingParameters();
}

void Vehicle::requestDataStream(MAV_DATA_STREAM stream, uint16_t rate, bool sendMultiple)
{
    mavlink_message_t               msg;
    mavlink_request_data_stream_t   dataStream;

    dataStream.req_stream_id = stream;
    dataStream.req_message_rate = rate;
    dataStream.start_stop = 1;  // start
    dataStream.target_system = id();
    dataStream.target_component = 0;

    mavlink_msg_request_data_stream_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &dataStream);

    if (sendMultiple) {
        // We use sendMessageMultiple since we really want these to make it to the vehicle
        sendMessageMultiple(msg);
    } else {
        sendMessage(msg);
    }
}

void Vehicle::_sendMessageMultipleNext(void)
{
    if (_nextSendMessageMultipleIndex < _sendMessageMultipleList.count()) {
        qCDebug(VehicleLog) << "_sendMessageMultipleNext:" << _sendMessageMultipleList[_nextSendMessageMultipleIndex].message.msgid;

        sendMessage(_sendMessageMultipleList[_nextSendMessageMultipleIndex].message);

        if (--_sendMessageMultipleList[_nextSendMessageMultipleIndex].retryCount <= 0) {
            _sendMessageMultipleList.removeAt(_nextSendMessageMultipleIndex);
        } else {
            _nextSendMessageMultipleIndex++;
        }
    }

    if (_nextSendMessageMultipleIndex >= _sendMessageMultipleList.count()) {
        _nextSendMessageMultipleIndex = 0;
    }
}

void Vehicle::sendMessageMultiple(mavlink_message_t message)
{
    SendMessageMultipleInfo_t   info;

    info.message =      message;
    info.retryCount =   _sendMessageMultipleRetries;

    _sendMessageMultipleList.append(info);
}

void Vehicle::_missionManagerError(int errorCode, const QString& errorMsg)
{
    Q_UNUSED(errorCode);
    qgcApp()->showMessage(QString("Error during Mission communication with Vehicle: %1").arg(errorMsg));
}

void Vehicle::_addNewMapTrajectoryPoint(void)
{
    if (_mapTrajectoryHaveFirstCoordinate) {
        _mapTrajectoryList.append(new CoordinateVector(_mapTrajectoryLastCoordinate, _coordinate, this));
    }
    _mapTrajectoryHaveFirstCoordinate = true;
    _mapTrajectoryLastCoordinate = _coordinate;
}

void Vehicle::_mapTrajectoryStart(void)
{
    _mapTrajectoryHaveFirstCoordinate = false;
    _mapTrajectoryList.clear();
    _mapTrajectoryTimer.start();
}

void Vehicle::_mapTrajectoryStop()
{
    _mapTrajectoryTimer.stop();
}

void Vehicle::_parametersReady(bool parametersReady)
{
    if (parametersReady && !_missionManagerInitialRequestComplete) {
        _missionManagerInitialRequestComplete = true;
        _missionManager->requestMissionItems();
    }

    if (parametersReady) {
        setJoystickEnabled(_joystickEnabled);
    }
}

void Vehicle::disconnectInactiveVehicle(void)
{
    // Vehicle is no longer communicating with us, disconnect all links

    LinkManager* linkMgr = qgcApp()->toolbox()->linkManager();
    for (int i=0; i<_links.count(); i++) {
        linkMgr->disconnectLink(_links[i]);
    }
}

ParameterLoader* Vehicle::getParameterLoader(void)
{
    return _parameterLoader;
}

void Vehicle::_imageReady(UASInterface*)
{
    if(_uas)
    {
        QImage img = _uas->getImage();
        qgcApp()->toolbox()->imageProvider()->setImage(&img, _id);
        _flowImageIndex++;
        emit flowImageIndexChanged();
    }
}

void Vehicle::_remoteControlRSSIChanged(uint8_t rssi)
{
    // Low pass to git rid of jitter
    _rcRSSIstore = (_rcRSSIstore * 0.9f) + ((float)rssi * 0.1);
    uint8_t filteredRSSI = (uint8_t)ceil(_rcRSSIstore);
    if(_rcRSSIstore < 0.1) {
        filteredRSSI = 0;
    }
    if(_rcRSSI != filteredRSSI) {
        _rcRSSI = filteredRSSI;
        emit rcRSSIChanged(_rcRSSI);
    }
}

void Vehicle::virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust)
{
    // The following if statement prevents the virtualTabletJoystick from sending values if the standard joystick is enabled
    if ( !_joystickEnabled ) {
        _uas->setExternalControlSetpoint(roll, pitch, yaw, thrust, 0, JoystickModeRC);
    }
}

void Vehicle::setConnectionLostEnabled(bool connectionLostEnabled)
{
    if (_connectionLostEnabled != connectionLostEnabled) {
        _connectionLostEnabled = connectionLostEnabled;
        emit connectionLostEnabledChanged(_connectionLostEnabled);
    }
}

void Vehicle::_connectionLostTimeout(void)
{
    if (_connectionLostEnabled && !_connectionLost) {
        _connectionLost = true;
        _heardFrom = false;
        emit connectionLostChanged(true);
        _say(QString("connection lost to vehicle %1").arg(id()), GAudioOutput::AUDIO_SEVERITY_NOTICE);
        if (_autoDisconnect) {
            disconnectInactiveVehicle();
        }
    }
}

void Vehicle::_connectionActive(void)
{
    _connectionLostTimer.start();
    if (_connectionLost) {
        _connectionLost = false;
        emit connectionLostChanged(false);
        _say(QString("connection regained to vehicle %1").arg(id()), GAudioOutput::AUDIO_SEVERITY_NOTICE);
    }
}

void Vehicle::_say(const QString& text, int severity)
{
    if (!qgcApp()->runningUnitTests())
        qgcApp()->toolbox()->audioOutput()->say(text.toLower(), severity);
}

bool Vehicle::fixedWing(void) const
{
    return vehicleType() == MAV_TYPE_FIXED_WING;
}

bool Vehicle::multiRotor(void) const
{
    switch (vehicleType()) {
    case MAV_TYPE_QUADROTOR:
    case MAV_TYPE_COAXIAL:
    case MAV_TYPE_HELICOPTER:
    case MAV_TYPE_HEXAROTOR:
    case MAV_TYPE_OCTOROTOR:
    case MAV_TYPE_TRICOPTER:
        return true;
    default:
        return false;
    }
}