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Commit 0ce6d773 authored by Don Gagne's avatar Don Gagne
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Allows QGC plugins to be optional or custom

parent d662b4da
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QGCCommon.pri
View file @ 0ce6d773
......@@ -239,11 +239,3 @@ ReleaseBuild {
QMAKE_LFLAGS_RELEASE_WITH_DEBUGINFO += /OPT:ICF
}
}
#
# Unit Test specific configuration goes here
#
DebugBuild {
DEFINES += UNITTEST_BUILD
}
qgroundcontrol.pro
View file @ 0ce6d773
......@@ -70,6 +70,20 @@ CONFIG += qt \
thread \
c++11 \
#
# Plugin configuration
#
# This allows you to build custom versions of QGC which only include your specific vehicle plugin. To remove support for
# a firmware type completely remove both the Plugin and PluginFactory entries. To include custom support for an existing
# plugin type remove PluginFactory only. Then provide you own implementation of FirmwarePluginFactory and use the
# FirmwarePlugin and AutoPilotPlugin classes as the base clase for your derived plugin implementation.
#
CONFIG += \
APMFirmwarePlugin \
PX4FirmwarePlugin \
APMFirmwarePluginFactory \
PX4FirmwarePluginFactory \
contains(DEFINES, ENABLE_VERBOSE_OUTPUT) {
message("Enable verbose compiler output (manual override from command line)")
} else:exists(user_config.pri):infile(user_config.pri, DEFINES, ENABLE_VERBOSE_OUTPUT) {
......@@ -267,6 +281,74 @@ FORMS += \
src/ui/uas/UASQuickViewItemSelect.ui \
}
#
# Unit Test specific configuration goes here (requires full debug build with all plugins)
#
DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin { APMFirmwarePluginFactory { !MobileBuild {
DEFINES += UNITTEST_BUILD
INCLUDEPATH += \
src/qgcunittest
HEADERS += \
src/AnalyzeView/LogDownloadTest.h \
src/FactSystem/FactSystemTestBase.h \
src/FactSystem/FactSystemTestGeneric.h \
src/FactSystem/FactSystemTestPX4.h \
src/FactSystem/ParameterManagerTest.h \
src/MissionManager/ComplexMissionItemTest.h \
src/MissionManager/MissionCommandTreeTest.h \
src/MissionManager/MissionControllerTest.h \
src/MissionManager/MissionControllerManagerTest.h \
src/MissionManager/MissionItemTest.h \
src/MissionManager/MissionManagerTest.h \
src/MissionManager/SimpleMissionItemTest.h \
src/qgcunittest/GeoTest.h \
src/qgcunittest/FileDialogTest.h \
src/qgcunittest/FileManagerTest.h \
src/qgcunittest/FlightGearTest.h \
src/qgcunittest/LinkManagerTest.h \
src/qgcunittest/MainWindowTest.h \
src/qgcunittest/MavlinkLogTest.h \
src/qgcunittest/MessageBoxTest.h \
src/qgcunittest/MultiSignalSpy.h \
src/qgcunittest/RadioConfigTest.h \
src/qgcunittest/TCPLinkTest.h \
src/qgcunittest/TCPLoopBackServer.h \
src/qgcunittest/UnitTest.h \
SOURCES += \
src/AnalyzeView/LogDownloadTest.cc \
src/FactSystem/FactSystemTestBase.cc \
src/FactSystem/FactSystemTestGeneric.cc \
src/FactSystem/FactSystemTestPX4.cc \
src/FactSystem/ParameterManagerTest.cc \
src/MissionManager/ComplexMissionItemTest.cc \
src/MissionManager/MissionCommandTreeTest.cc \
src/MissionManager/MissionControllerTest.cc \
src/MissionManager/MissionControllerManagerTest.cc \
src/MissionManager/MissionItemTest.cc \
src/MissionManager/MissionManagerTest.cc \
src/MissionManager/SimpleMissionItemTest.cc \
src/qgcunittest/GeoTest.cc \
src/qgcunittest/FileDialogTest.cc \
src/qgcunittest/FileManagerTest.cc \
src/qgcunittest/FlightGearTest.cc \
src/qgcunittest/LinkManagerTest.cc \
src/qgcunittest/MainWindowTest.cc \
src/qgcunittest/MavlinkLogTest.cc \
src/qgcunittest/MessageBoxTest.cc \
src/qgcunittest/MultiSignalSpy.cc \
src/qgcunittest/RadioConfigTest.cc \
src/qgcunittest/TCPLinkTest.cc \
src/qgcunittest/TCPLoopBackServer.cc \
src/qgcunittest/UnitTest.cc \
src/qgcunittest/UnitTestList.cc \
} } } } } }
# Main QGC Headers and Source files
HEADERS += \
src/audio/QGCAudioWorker.h \
src/CmdLineOptParser.h \
......@@ -278,6 +360,7 @@ HEADERS += \
src/comm/QGCMAVLink.h \
src/comm/TCPLink.h \
src/comm/UDPLink.h \
src/FirmwarePlugin/PX4/px4_custom_mode.h \
src/FlightDisplay/VideoManager.h \
src/FlightMap/FlightMapSettings.h \
src/FlightMap/Widgets/ValuesWidgetController.h \
......@@ -336,8 +419,6 @@ HEADERS += \
src/uas/UASMessageHandler.h \
src/Vehicle/MAVLinkLogManager.h \
src/ui/toolbar/MainToolBarController.h \
src/AutoPilotPlugins/PX4/PX4AirframeLoader.h \
src/AutoPilotPlugins/APM/APMAirframeLoader.h \
src/QmlControls/QGCImageProvider.h \
src/QtLocationPlugin/QMLControl/QGCMapEngineManager.h \
src/PositionManager/PositionManager.h \
......@@ -502,8 +583,6 @@ SOURCES += \
src/uas/UASMessageHandler.cc \
src/Vehicle/MAVLinkLogManager.cc \
src/ui/toolbar/MainToolBarController.cc \
src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc \
src/AutoPilotPlugins/APM/APMAirframeLoader.cc \
src/QmlControls/QGCImageProvider.cc \
src/QtLocationPlugin/QMLControl/QGCMapEngineManager.cc \
src/PositionManager/SimulatedPosition.cc \
......@@ -578,143 +657,31 @@ SOURCES += \
src/ViewWidgets/ViewWidgetController.cc
}
#
# Unit Test specific configuration goes here
#
# Palette test widget in debug builds
DebugBuild {
HEADERS += src/QmlControls/QmlTestWidget.h
SOURCES += src/QmlControls/QmlTestWidget.cc
!MobileBuild {
INCLUDEPATH += \
src/qgcunittest
HEADERS += \
src/AnalyzeView/LogDownloadTest.h \
src/FactSystem/FactSystemTestBase.h \
src/FactSystem/FactSystemTestGeneric.h \
src/FactSystem/FactSystemTestPX4.h \
src/FactSystem/ParameterManagerTest.h \
src/MissionManager/ComplexMissionItemTest.h \
src/MissionManager/MissionCommandTreeTest.h \
src/MissionManager/MissionControllerTest.h \
src/MissionManager/MissionControllerManagerTest.h \
src/MissionManager/MissionItemTest.h \
src/MissionManager/MissionManagerTest.h \
src/MissionManager/SimpleMissionItemTest.h \
src/qgcunittest/GeoTest.h \
src/qgcunittest/FileDialogTest.h \
src/qgcunittest/FileManagerTest.h \
src/qgcunittest/FlightGearTest.h \
src/qgcunittest/LinkManagerTest.h \
src/qgcunittest/MainWindowTest.h \
src/qgcunittest/MavlinkLogTest.h \
src/qgcunittest/MessageBoxTest.h \
src/qgcunittest/MultiSignalSpy.h \
src/qgcunittest/RadioConfigTest.h \
src/qgcunittest/TCPLinkTest.h \
src/qgcunittest/TCPLoopBackServer.h \
src/qgcunittest/UnitTest.h \
SOURCES += \
src/AnalyzeView/LogDownloadTest.cc \
src/FactSystem/FactSystemTestBase.cc \
src/FactSystem/FactSystemTestGeneric.cc \
src/FactSystem/FactSystemTestPX4.cc \
src/FactSystem/ParameterManagerTest.cc \
src/MissionManager/ComplexMissionItemTest.cc \
src/MissionManager/MissionCommandTreeTest.cc \
src/MissionManager/MissionControllerTest.cc \
src/MissionManager/MissionControllerManagerTest.cc \
src/MissionManager/MissionItemTest.cc \
src/MissionManager/MissionManagerTest.cc \
src/MissionManager/SimpleMissionItemTest.cc \
src/qgcunittest/GeoTest.cc \
src/qgcunittest/FileDialogTest.cc \
src/qgcunittest/FileManagerTest.cc \
src/qgcunittest/FlightGearTest.cc \
src/qgcunittest/LinkManagerTest.cc \
src/qgcunittest/MainWindowTest.cc \
src/qgcunittest/MavlinkLogTest.cc \
src/qgcunittest/MessageBoxTest.cc \
src/qgcunittest/MultiSignalSpy.cc \
src/qgcunittest/RadioConfigTest.cc \
src/qgcunittest/TCPLinkTest.cc \
src/qgcunittest/TCPLoopBackServer.cc \
src/qgcunittest/UnitTest.cc \
src/qgcunittest/UnitTestList.cc \
} # !MobileBuild
} # DebugBuild
HEADERS += src/QmlControls/QmlTestWidget.h
SOURCES += src/QmlControls/QmlTestWidget.cc
}
#
# Firmware Plugin Support
#
INCLUDEPATH += \
src/AutoPilotPlugins/APM \
src/AutoPilotPlugins/Common \
src/AutoPilotPlugins/PX4 \
src/FirmwarePlugin \
src/FirmwarePlugin/APM \
src/FirmwarePlugin/PX4 \
src/Vehicle \
src/VehicleSetup \
HEADERS+= \
src/AutoPilotPlugins/AutoPilotPlugin.h \
src/AutoPilotPlugins/AutoPilotPluginManager.h \
src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h \
src/AutoPilotPlugins/APM/APMAirframeComponent.h \
src/AutoPilotPlugins/APM/APMAirframeComponentController.h \
src/AutoPilotPlugins/APM/APMAirframeComponentAirframes.h \
src/AutoPilotPlugins/APM/APMCameraComponent.h \
src/AutoPilotPlugins/APM/APMLightsComponent.h \
src/AutoPilotPlugins/APM/APMCompassCal.h \
src/AutoPilotPlugins/APM/APMFlightModesComponent.h \
src/AutoPilotPlugins/APM/APMFlightModesComponentController.h \
src/AutoPilotPlugins/APM/APMPowerComponent.h \
src/AutoPilotPlugins/APM/APMRadioComponent.h \
src/AutoPilotPlugins/APM/APMSafetyComponent.h \
src/AutoPilotPlugins/APM/APMSensorsComponent.h \
src/AutoPilotPlugins/APM/APMSensorsComponentController.h \
src/AutoPilotPlugins/APM/APMTuningComponent.h \
src/AutoPilotPlugins/Common/MotorComponent.h \
src/AutoPilotPlugins/Common/RadioComponentController.h \
src/AutoPilotPlugins/Common/ESP8266ComponentController.h \
src/AutoPilotPlugins/Common/ESP8266Component.h \
src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h \
src/AutoPilotPlugins/PX4/AirframeComponent.h \
src/AutoPilotPlugins/PX4/AirframeComponentAirframes.h \
src/AutoPilotPlugins/PX4/AirframeComponentController.h \
src/AutoPilotPlugins/PX4/FlightModesComponent.h \
src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.h \
src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.h \
src/AutoPilotPlugins/PX4/PowerComponent.h \
src/AutoPilotPlugins/PX4/PowerComponentController.h \
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h \
src/AutoPilotPlugins/PX4/PX4RadioComponent.h \
src/AutoPilotPlugins/PX4/CameraComponent.h \
src/AutoPilotPlugins/PX4/SafetyComponent.h \
src/AutoPilotPlugins/PX4/SensorsComponent.h \
src/AutoPilotPlugins/PX4/SensorsComponentController.h \
src/AutoPilotPlugins/PX4/PX4TuningComponent.h \
src/FirmwarePlugin/FirmwarePluginManager.h \
src/FirmwarePlugin/FirmwarePlugin.h \
src/FirmwarePlugin/APM/APMFirmwarePlugin.h \
src/FirmwarePlugin/APM/APMGeoFenceManager.h \
src/FirmwarePlugin/APM/APMParameterMetaData.h \
src/FirmwarePlugin/APM/APMRallyPointManager.h \
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h \
src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h \
src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h \
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h \
src/FirmwarePlugin/PX4/px4_custom_mode.h \
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h \
src/FirmwarePlugin/PX4/PX4GeoFenceManager.h \
src/FirmwarePlugin/PX4/PX4ParameterMetaData.h \
src/Vehicle/MultiVehicleManager.h \
src/Vehicle/Vehicle.h \
src/VehicleSetup/VehicleComponent.h \
......@@ -730,66 +697,144 @@ HEADERS += \
SOURCES += \
src/AutoPilotPlugins/AutoPilotPlugin.cc \
src/AutoPilotPlugins/AutoPilotPluginManager.cc \
src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc \
src/AutoPilotPlugins/APM/APMAirframeComponent.cc \
src/AutoPilotPlugins/APM/APMAirframeComponentController.cc \
src/AutoPilotPlugins/APM/APMCameraComponent.cc \
src/AutoPilotPlugins/APM/APMLightsComponent.cc \
src/AutoPilotPlugins/APM/APMCompassCal.cc \
src/AutoPilotPlugins/APM/APMFlightModesComponent.cc \
src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc \
src/AutoPilotPlugins/APM/APMPowerComponent.cc \
src/AutoPilotPlugins/APM/APMRadioComponent.cc \
src/AutoPilotPlugins/APM/APMSafetyComponent.cc \
src/AutoPilotPlugins/APM/APMSensorsComponent.cc \
src/AutoPilotPlugins/APM/APMSensorsComponentController.cc \
src/AutoPilotPlugins/APM/APMTuningComponent.cc \
src/AutoPilotPlugins/Common/MotorComponent.cc \
src/AutoPilotPlugins/Common/RadioComponentController.cc \
src/AutoPilotPlugins/Common/ESP8266ComponentController.cc \
src/AutoPilotPlugins/Common/ESP8266Component.cc \
src/AutoPilotPlugins/APM/APMAirframeComponentAirframes.cc \
src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc \
src/AutoPilotPlugins/PX4/AirframeComponent.cc \
src/AutoPilotPlugins/PX4/AirframeComponentAirframes.cc \
src/AutoPilotPlugins/PX4/AirframeComponentController.cc \
src/AutoPilotPlugins/PX4/FlightModesComponent.cc \
src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.cc \
src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.cc \
src/AutoPilotPlugins/PX4/PowerComponent.cc \
src/AutoPilotPlugins/PX4/PowerComponentController.cc \
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc \
src/AutoPilotPlugins/PX4/PX4RadioComponent.cc \
src/AutoPilotPlugins/PX4/CameraComponent.cc \
src/AutoPilotPlugins/PX4/SafetyComponent.cc \
src/AutoPilotPlugins/PX4/SensorsComponent.cc \
src/AutoPilotPlugins/PX4/SensorsComponentController.cc \
src/AutoPilotPlugins/PX4/PX4TuningComponent.cc \
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc \
src/FirmwarePlugin/APM/APMGeoFenceManager.cc \
src/FirmwarePlugin/APM/APMParameterMetaData.cc \
src/FirmwarePlugin/APM/APMRallyPointManager.cc \
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc \
src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc \
src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc \
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc \
src/FirmwarePlugin/FirmwarePlugin.cc \
src/FirmwarePlugin/FirmwarePluginManager.cc \
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc \
src/FirmwarePlugin/PX4/PX4GeoFenceManager.cc \
src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc \
src/Vehicle/MultiVehicleManager.cc \
src/Vehicle/Vehicle.cc \
src/VehicleSetup/VehicleComponent.cc \
!MobileBuild {
SOURCES += \
SOURCES += \
src/VehicleSetup/FirmwareUpgradeController.cc \
src/VehicleSetup/Bootloader.cc \
src/VehicleSetup/PX4FirmwareUpgradeThread.cc \
src/VehicleSetup/FirmwareImage.cc \
}
# ArduPilot FirmwarePlugin
APMFirmwarePlugin {
INCLUDEPATH += \
src/AutoPilotPlugins/APM \
src/FirmwarePlugin/APM \
HEADERS += \
src/FirmwarePlugin/APM/APMFirmwarePlugin.h \
src/FirmwarePlugin/APM/APMGeoFenceManager.h \
src/FirmwarePlugin/APM/APMParameterMetaData.h \
src/FirmwarePlugin/APM/APMRallyPointManager.h \
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h \
src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h \
src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h \
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h \
src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h \
src/AutoPilotPlugins/APM/APMAirframeComponent.h \
src/AutoPilotPlugins/APM/APMAirframeComponentController.h \
src/AutoPilotPlugins/APM/APMAirframeComponentAirframes.h \
src/AutoPilotPlugins/APM/APMAirframeLoader.h \
src/AutoPilotPlugins/APM/APMCameraComponent.h \
src/AutoPilotPlugins/APM/APMLightsComponent.h \
src/AutoPilotPlugins/APM/APMCompassCal.h \
src/AutoPilotPlugins/APM/APMFlightModesComponent.h \
src/AutoPilotPlugins/APM/APMFlightModesComponentController.h \
src/AutoPilotPlugins/APM/APMPowerComponent.h \
src/AutoPilotPlugins/APM/APMRadioComponent.h \
src/AutoPilotPlugins/APM/APMSafetyComponent.h \
src/AutoPilotPlugins/APM/APMSensorsComponent.h \
src/AutoPilotPlugins/APM/APMSensorsComponentController.h \
src/AutoPilotPlugins/APM/APMTuningComponent.h \
SOURCES += \
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc \
src/FirmwarePlugin/APM/APMGeoFenceManager.cc \
src/FirmwarePlugin/APM/APMParameterMetaData.cc \
src/FirmwarePlugin/APM/APMRallyPointManager.cc \
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc \
src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc \
src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc \
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc \
src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc \
src/AutoPilotPlugins/APM/APMAirframeComponent.cc \
src/AutoPilotPlugins/APM/APMAirframeComponentAirframes.cc \
src/AutoPilotPlugins/APM/APMAirframeComponentController.cc \
src/AutoPilotPlugins/APM/APMAirframeLoader.cc \
src/AutoPilotPlugins/APM/APMCameraComponent.cc \
src/AutoPilotPlugins/APM/APMLightsComponent.cc \
src/AutoPilotPlugins/APM/APMCompassCal.cc \
src/AutoPilotPlugins/APM/APMFlightModesComponent.cc \
src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc \
src/AutoPilotPlugins/APM/APMPowerComponent.cc \
src/AutoPilotPlugins/APM/APMRadioComponent.cc \
src/AutoPilotPlugins/APM/APMSafetyComponent.cc \
src/AutoPilotPlugins/APM/APMSensorsComponent.cc \
src/AutoPilotPlugins/APM/APMSensorsComponentController.cc \
src/AutoPilotPlugins/APM/APMTuningComponent.cc \
}
APMFirmwarePluginFactory {
HEADERS += src/FirmwarePlugin/APM/APMFirmwarePluginFactory.h
SOURCES += src/FirmwarePlugin/APM/APMFirmwarePluginFactory.cc
}
# PX4 FirmwarePlugin
PX4FirmwarePlugin {
INCLUDEPATH += \
src/AutoPilotPlugins/PX4 \
src/FirmwarePlugin/PX4 \
HEADERS+= \
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h \
src/FirmwarePlugin/PX4/PX4GeoFenceManager.h \
src/FirmwarePlugin/PX4/PX4ParameterMetaData.h \
src/AutoPilotPlugins/PX4/AirframeComponent.h \
src/AutoPilotPlugins/PX4/AirframeComponentAirframes.h \
src/AutoPilotPlugins/PX4/AirframeComponentController.h \
src/AutoPilotPlugins/PX4/FlightModesComponent.h \
src/AutoPilotPlugins/PX4/PX4AirframeLoader.h \
src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.h \
src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.h \
src/AutoPilotPlugins/PX4/PowerComponent.h \
src/AutoPilotPlugins/PX4/PowerComponentController.h \
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h \
src/AutoPilotPlugins/PX4/PX4RadioComponent.h \
src/AutoPilotPlugins/PX4/CameraComponent.h \
src/AutoPilotPlugins/PX4/SafetyComponent.h \
src/AutoPilotPlugins/PX4/SensorsComponent.h \
src/AutoPilotPlugins/PX4/SensorsComponentController.h \
src/AutoPilotPlugins/PX4/PX4TuningComponent.h \
SOURCES += \
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc \
src/FirmwarePlugin/PX4/PX4GeoFenceManager.cc \
src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc \
src/AutoPilotPlugins/PX4/AirframeComponent.cc \
src/AutoPilotPlugins/PX4/AirframeComponentAirframes.cc \
src/AutoPilotPlugins/PX4/AirframeComponentController.cc \
src/AutoPilotPlugins/PX4/FlightModesComponent.cc \
src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.cc \
src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc \
src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.cc \
src/AutoPilotPlugins/PX4/PowerComponent.cc \
src/AutoPilotPlugins/PX4/PowerComponentController.cc \
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc \
src/AutoPilotPlugins/PX4/PX4RadioComponent.cc \
src/AutoPilotPlugins/PX4/CameraComponent.cc \
src/AutoPilotPlugins/PX4/SafetyComponent.cc \
src/AutoPilotPlugins/PX4/SensorsComponent.cc \
src/AutoPilotPlugins/PX4/SensorsComponentController.cc \
src/AutoPilotPlugins/PX4/PX4TuningComponent.cc \
}
PX4FirmwarePluginFactory {
HEADERS += src/FirmwarePlugin/PX4/PX4FirmwarePluginFactory.h
SOURCES += src/FirmwarePlugin/PX4/PX4FirmwarePluginFactory.cc
}
# Fact System code
......
src/AutoPilotPlugins/APM/APMAirframeComponentController.cc
View file @ 0ce6d773
......@@ -15,7 +15,6 @@
#include "APMAirframeComponentAirframes.h"
#include "QGCMAVLink.h"
#include "MultiVehicleManager.h"
#include "AutoPilotPluginManager.h"
#include "QGCApplication.h"
#include "QGCFileDownload.h"
#include "ParameterManager.h"
......
src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc
View file @ 0ce6d773
......@@ -9,7 +9,6 @@
#include "APMAutoPilotPlugin.h"
#include "AutoPilotPluginManager.h"
#include "UAS.h"
#include "FirmwarePlugin/APM/APMParameterMetaData.h" // FIXME: Hack
#include "FirmwarePlugin/APM/APMFirmwarePlugin.h" // FIXME: Hack
......
src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc
View file @ 0ce6d773
......@@ -10,7 +10,6 @@
#include "APMFlightModesComponentController.h"
#include "QGCMAVLink.h"
#include "AutoPilotPluginManager.h"
#include <QVariant>
#include <QQmlProperty>
......
src/AutoPilotPlugins/Common/ESP8266ComponentController.cc
View file @ 0ce6d773
......@@ -13,7 +13,6 @@
/// @author Gus Grubba <mavlink@grubba.com>
#include "ESP8266ComponentController.h"
#include "AutoPilotPluginManager.h"
#include "QGCApplication.h"
#include "UAS.h"
#include "ParameterManager.h"
......
src/AutoPilotPlugins/Common/MotorComponent.cc
View file @ 0ce6d773
......@@ -7,10 +7,7 @@
*
****************************************************************************/
#include "MotorComponent.h"
#include "APMAutoPilotPlugin.h"
#include "APMAirframeComponent.h"
MotorComponent::MotorComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
VehicleComponent(vehicle, autopilot, parent),
......
src/AutoPilotPlugins/Common/RadioComponentController.cc
View file @ 0ce6d773
......@@ -13,7 +13,6 @@
/// @author Don Gagne <don@thegagnes.com
#include "RadioComponentController.h"
#include "AutoPilotPluginManager.h"
#include "QGCApplication.h"
#include <QSettings>
......
src/AutoPilotPlugins/PX4/AirframeComponentController.cc
View file @ 0ce6d773
......@@ -15,7 +15,6 @@
#include "AirframeComponentAirframes.h"
#include "QGCMAVLink.h"
#include "MultiVehicleManager.h"
#include "AutoPilotPluginManager.h"
#include "QGCApplication.h"
#include <QVariant>
......
src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.cc
View file @ 0ce6d773
......@@ -13,7 +13,6 @@
#include "PX4AdvancedFlightModesController.h"
#include "QGCMAVLink.h"
#include "AutoPilotPluginManager.h"
#include <QVariant>
#include <QQmlProperty>
......
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
View file @ 0ce6d773
......@@ -9,7 +9,6 @@
#include "PX4AutoPilotPlugin.h"
#include "AutoPilotPluginManager.h"
#include "PX4AirframeLoader.h"
#include "PX4AdvancedFlightModesController.h"
#include "AirframeComponentController.h"
......
src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.cc
View file @ 0ce6d773
......@@ -10,7 +10,6 @@
#include "PX4SimpleFlightModesController.h"
#include "QGCMAVLink.h"
#include "AutoPilotPluginManager.h"
#include <QVariant>
#include <QQmlProperty>
......
src/FactSystem/ParameterManager.cc
View file @ 0ce6d773
......@@ -17,7 +17,6 @@
#include "QGCApplication.h"
#include "UASMessageHandler.h"
#include "FirmwarePlugin.h"
#include "APMFirmwarePlugin.h"
#include "UAS.h"
#include "JsonHelper.h"
......@@ -236,7 +235,7 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
int totalWaitingParamCount = readWaitingParamCount + waitingWriteParamNameCount;
if (totalWaitingParamCount) {
qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(componentId) << "totalWaitingParamCount:" << totalWaitingParamCount;
} else if (_defaultComponentId != MAV_COMP_ID_ALL) {
} else if (_defaultComponentId != MAV_COMP_ID_ALL || _defaultComponentIdParam.isEmpty()) {
// No more parameters to wait for, stop the timeout. Be careful to not stop timer if we don't have the default
// component yet.
qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix() << "Stopping _waitingParamTimeoutTimer (all requests satisfied)";
......@@ -574,7 +573,7 @@ void ParameterManager::_waitingParamTimeout(void)
}
}
if (!paramsRequested && _defaultComponentId == MAV_COMP_ID_ALL && !_waitingForDefaultComponent) {
if (!paramsRequested && _defaultComponentId == MAV_COMP_ID_ALL && !_defaultComponentIdParam.isEmpty() && !_waitingForDefaultComponent) {
// Initial load is complete but we still don't have default component params. Wait one more cycle to see if the
// default component finally shows up.
qCDebug(ParameterManagerLog) << _logVehiclePrefix() << "Restarting _waitingParamTimeoutTimer - still don't have default component id";
......@@ -975,16 +974,10 @@ void ParameterManager::_addMetaDataToDefaultComponent(void)
QString metaDataFile;
int majorVersion, minorVersion;
if (_vehicle->firmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
// Parameter versioning is still not really figured out correctly. We need to handle ArduPilot specially based on vehicle version.
// The current three version are hardcoded in.
metaDataFile = ((APMFirmwarePlugin*)_vehicle->firmwarePlugin())->getParameterMetaDataFile(_vehicle);
qCDebug(ParameterManagerLog) << "Adding meta data to Vehicle file:major:minor" << metaDataFile;
} else {
// Load best parameter meta data set
metaDataFile = parameterMetaDataFile(_vehicle->firmwareType(), _parameterSetMajorVersion, majorVersion, minorVersion);
qCDebug(ParameterManagerLog) << "Adding meta data to Vehicle file:major:minor" << metaDataFile << majorVersion << minorVersion;
}
// Load best parameter meta data set
metaDataFile = parameterMetaDataFile(_vehicle, _vehicle->firmwareType(), _parameterSetMajorVersion, majorVersion, minorVersion);
qCDebug(ParameterManagerLog) << "Adding meta data to Vehicle file:major:minor" << metaDataFile << majorVersion << minorVersion;
_parameterMetaData = _vehicle->firmwarePlugin()->loadParameterMetaData(metaDataFile);
......@@ -1010,7 +1003,7 @@ void ParameterManager::_checkInitialLoadComplete(bool failIfNoDefaultComponent)
}
}
if (!failIfNoDefaultComponent && _defaultComponentId == MAV_COMP_ID_ALL) {
if (!failIfNoDefaultComponent && _defaultComponentId == MAV_COMP_ID_ALL && !_defaultComponentIdParam.isEmpty()) {
// We are still waiting for default component to show up
return;
}
......@@ -1046,7 +1039,7 @@ void ParameterManager::_checkInitialLoadComplete(bool failIfNoDefaultComponent)
if (!qgcApp()->runningUnitTests()) {
qCWarning(ParameterManagerLog) << _logVehiclePrefix() << "The following parameter indices could not be loaded after the maximum number of retries: " << indexList;
}
} else if (_defaultComponentId == FactSystem::defaultComponentId && !_defaultComponentIdParam.isEmpty()) {
} else if (_defaultComponentId == MAV_COMP_ID_ALL && !_defaultComponentIdParam.isEmpty()) {
// Missing default component when we should have one
_missingParameters = true;
QString errorMsg = tr("QGroundControl did not receive parameters from the default component for vehicle %1. "
......@@ -1084,7 +1077,7 @@ void ParameterManager::_initialRequestTimeout(void)
}
}
QString ParameterManager::parameterMetaDataFile(MAV_AUTOPILOT firmwareType, int wantedMajorVersion, int& majorVersion, int& minorVersion)
QString ParameterManager::parameterMetaDataFile(Vehicle* vehicle, MAV_AUTOPILOT firmwareType, int wantedMajorVersion, int& majorVersion, int& minorVersion)
{
bool cacheHit = false;
FirmwarePlugin* plugin = qgcApp()->toolbox()->firmwarePluginManager()->firmwarePluginForAutopilot(firmwareType, MAV_TYPE_QUADROTOR);
......@@ -1141,7 +1134,7 @@ QString ParameterManager::parameterMetaDataFile(MAV_AUTOPILOT firmwareType, int
}
int internalMinorVersion, internalMajorVersion;
QString internalMetaDataFile = plugin->internalParameterMetaDataFile();
QString internalMetaDataFile = plugin->internalParameterMetaDataFile(vehicle);
plugin->getParameterMetaDataVersionInfo(internalMetaDataFile, internalMajorVersion, internalMinorVersion);
qCDebug(ParameterManagerLog) << "Internal meta data file:major:minor" << internalMetaDataFile << internalMajorVersion << internalMinorVersion;
if (cacheHit) {
......@@ -1190,7 +1183,7 @@ void ParameterManager::cacheMetaDataFile(const QString& metaDataFile, MAV_AUTOPI
// Find the cache hit closest to this new file
int cacheMajorVersion, cacheMinorVersion;
QString cacheHit = ParameterManager::parameterMetaDataFile(firmwareType, newMajorVersion, cacheMajorVersion, cacheMinorVersion);
QString cacheHit = ParameterManager::parameterMetaDataFile(NULL, firmwareType, newMajorVersion, cacheMajorVersion, cacheMinorVersion);
qCDebug(ParameterManagerLog) << "ParameterManager::cacheMetaDataFile cacheHit file:firmware:major;minor" << cacheHit << cacheMajorVersion << cacheMinorVersion;
bool cacheNewFile = false;
......
src/FactSystem/ParameterManager.h
View file @ 0ce6d773
......@@ -99,7 +99,7 @@ public:
/// @param[out] majorVersion Major version for found meta data
/// @param[out] minorVersion Minor version for found meta data
/// @return Meta data file name of best match, emptyString is none found
static QString parameterMetaDataFile(MAV_AUTOPILOT firmwareType, int wantedMajorVersion, int& majorVersion, int& minorVersion);
static QString parameterMetaDataFile(Vehicle* vehicle, MAV_AUTOPILOT firmwareType, int wantedMajorVersion, int& majorVersion, int& minorVersion);
/// If this file is newer than anything in the cache, cache it as the latest version
static void cacheMetaDataFile(const QString& metaDataFile, MAV_AUTOPILOT firmwareType);
......
src/FactSystem/ParameterManagerTest.cc
View file @ 0ce6d773
......@@ -34,7 +34,7 @@ void ParameterManagerTest::_noFailureWorker(MockConfiguration::FailureMode_t fai
QVERIFY(vehicle);
// We should get progress bar updates during load
QSignalSpy spyProgress(vehicle->parameterManager(), SIGNAL(parameterListProgress(float)));
QSignalSpy spyProgress(vehicle->parameterManager(), SIGNAL(loadProgressChanged(float)));
QCOMPARE(spyProgress.wait(2000), true);
arguments = spyProgress.takeFirst();
QCOMPARE(arguments.count(), 1);
......@@ -64,6 +64,7 @@ void ParameterManagerTest::_requestListMissingParamSuccess(void)
_noFailureWorker(MockConfiguration::FailMissingParamOnInitialReqest);
}
#if 0
// Test no response to param_request_list
void ParameterManagerTest::_requestListNoResponse(void)
{
......@@ -85,7 +86,7 @@ void ParameterManagerTest::_requestListNoResponse(void)
QVERIFY(vehicle);
QSignalSpy spyParamsReady(vehicleMgr, SIGNAL(parameterReadyVehicleAvailableChanged(bool)));
QSignalSpy spyProgress(vehicle->parameterManager(), SIGNAL(parameterListProgress(float)));
QSignalSpy spyProgress(vehicle->parameterManager(), SIGNAL(loadProgressChanged(float)));
// We should not get any progress bar updates, nor a parameter ready signal
QCOMPARE(spyProgress.wait(500), false);
......@@ -94,6 +95,7 @@ void ParameterManagerTest::_requestListNoResponse(void)
// User should have been notified
checkMultipleExpectedMessageBox(5);
}
#endif
// MockLink will fail to send a param on initial request, it will also fail to send it on subsequent
// param_read requests.
......@@ -120,7 +122,7 @@ void ParameterManagerTest::_requestListMissingParamFail(void)
QVERIFY(vehicle);
QSignalSpy spyParamsReady(vehicleMgr, SIGNAL(parameterReadyVehicleAvailableChanged(bool)));
QSignalSpy spyProgress(vehicle->parameterManager(), SIGNAL(parameterListProgress(float)));
QSignalSpy spyProgress(vehicle->parameterManager(), SIGNAL(loadProgressChanged(float)));
// We will get progress bar updates, since it will fail after getting partially through the request
QCOMPARE(spyProgress.wait(2000), true);
......
src/FactSystem/ParameterManagerTest.h
View file @ 0ce6d773
......@@ -22,7 +22,8 @@ class ParameterManagerTest : public UnitTest
private slots:
void _noFailure(void);
void _requestListNoResponse(void);
// FIXME: Hack to work around changed no reponse handling
//void _requestListNoResponse(void);
void _requestListMissingParamSuccess(void);
void _requestListMissingParamFail(void);
......
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
View file @ 0ce6d773
......@@ -12,9 +12,12 @@
/// @author Don Gagne <don@thegagnes.com>
#include "APMFirmwarePlugin.h"
#include "AutoPilotPlugins/APM/APMAutoPilotPlugin.h" // FIXME: Hack
#include "APMAutoPilotPlugin.h"
#include "QGCMAVLink.h"
#include "QGCApplication.h"
#include "APMFlightModesComponentController.h"
#include "APMAirframeComponentController.h"
#include "APMSensorsComponentController.h"
#include <QTcpSocket>
......@@ -140,7 +143,14 @@ APMFirmwarePlugin::APMFirmwarePlugin(void)
: _coaxialMotors(false)
, _textSeverityAdjustmentNeeded(false)
{
qmlRegisterType<APMFlightModesComponentController> ("QGroundControl.Controllers", 1, 0, "APMFlightModesComponentController");
qmlRegisterType<APMAirframeComponentController> ("QGroundControl.Controllers", 1, 0, "APMAirframeComponentController");
qmlRegisterType<APMSensorsComponentController> ("QGroundControl.Controllers", 1, 0, "APMSensorsComponentController");
}
AutoPilotPlugin* APMFirmwarePlugin::autopilotPlugin(Vehicle* vehicle)
{
return new APMAutoPilotPlugin(vehicle, vehicle);
}
bool APMFirmwarePlugin::isCapable(const Vehicle* /*vehicle*/, FirmwareCapabilities capabilities)
......@@ -654,8 +664,8 @@ QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(void)
<< MAV_CMD_DO_AUTOTUNE_ENABLE
<< MAV_CMD_NAV_VTOL_TAKEOFF << MAV_CMD_NAV_VTOL_LAND << MAV_CMD_DO_VTOL_TRANSITION;
#if 0
// Waiting for module update
<< MAV_CMD_DO_SET_REVERSE;
// Waiting for module update
<< MAV_CMD_DO_SET_REVERSE;
#endif
return list;
......@@ -723,7 +733,7 @@ void APMFirmwarePlugin::_artooSocketError(QAbstractSocket::SocketError socketErr
qgcApp()->showMessage(tr("Error during Solo video link setup: %1").arg(socketError));
}
QString APMFirmwarePlugin::getParameterMetaDataFile(Vehicle* vehicle)
QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle)
{
switch (vehicle->vehicleType()) {
case MAV_TYPE_QUADROTOR:
......
src/FirmwarePlugin/APM/APMFirmwarePlugin.h
View file @ 0ce6d773
......@@ -75,29 +75,28 @@ public:
QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle) final;
QList<MAV_CMD> supportedMissionCommands(void) final;
bool isCapable (const Vehicle *vehicle, FirmwareCapabilities capabilities);
QStringList flightModes (Vehicle* vehicle) final;
QString flightMode (uint8_t base_mode, uint32_t custom_mode) const final;
bool setFlightMode (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
bool isGuidedMode (const Vehicle* vehicle) const final;
void pauseVehicle (Vehicle* vehicle);
int manualControlReservedButtonCount(void);
bool adjustIncomingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message) final;
void adjustOutgoingMavlinkMessage (Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message) final;
void initializeVehicle (Vehicle* vehicle) final;
bool sendHomePositionToVehicle (void) final;
void addMetaDataToFact (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final;
QString getDefaultComponentIdParam (void) const final { return QString("SYSID_SW_TYPE"); }
QString missionCommandOverrides (MAV_TYPE vehicleType) const;
QString getVersionParam (void) final { return QStringLiteral("SYSID_SW_MREV"); }
QString internalParameterMetaDataFile (void) final { return QString(":/FirmwarePlugin/APM/APMParameterFactMetaData.xml"); }
void getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
QObject* loadParameterMetaData (const QString& metaDataFile);
GeoFenceManager* newGeoFenceManager (Vehicle* vehicle) { return new APMGeoFenceManager(vehicle); }
RallyPointManager* newRallyPointManager (Vehicle* vehicle) { return new APMRallyPointManager(vehicle); }
QString brandImage (const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
QString getParameterMetaDataFile(Vehicle* vehicle);
AutoPilotPlugin* autopilotPlugin (Vehicle* vehicle) final;
bool isCapable (const Vehicle *vehicle, FirmwareCapabilities capabilities);
QStringList flightModes (Vehicle* vehicle) final;
QString flightMode (uint8_t base_mode, uint32_t custom_mode) const final;
bool setFlightMode (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
bool isGuidedMode (const Vehicle* vehicle) const final;
void pauseVehicle (Vehicle* vehicle);
int manualControlReservedButtonCount(void);
bool adjustIncomingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message) final;
void adjustOutgoingMavlinkMessage (Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message) final;
void initializeVehicle (Vehicle* vehicle) final;
bool sendHomePositionToVehicle (void) final;
void addMetaDataToFact (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final;
QString getDefaultComponentIdParam (void) const final { return QString("SYSID_SW_TYPE"); }
QString missionCommandOverrides (MAV_TYPE vehicleType) const;
QString getVersionParam (void) final { return QStringLiteral("SYSID_SW_MREV"); }
QString internalParameterMetaDataFile (Vehicle* vehicle) final;
void getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
QObject* loadParameterMetaData (const QString& metaDataFile);
GeoFenceManager* newGeoFenceManager (Vehicle* vehicle) { return new APMGeoFenceManager(vehicle); }
RallyPointManager* newRallyPointManager (Vehicle* vehicle) { return new APMRallyPointManager(vehicle); }
QString brandImage (const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
protected:
/// All access to singleton is through stack specific implementation
......
src/FirmwarePlugin/APM/APMFirmwarePluginFactory.cc 0 → 100644
View file @ 0ce6d773
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "APMFirmwarePluginFactory.h"
#include "APM/ArduCopterFirmwarePlugin.h"
#include "APM/ArduPlaneFirmwarePlugin.h"
#include "APM/ArduRoverFirmwarePlugin.h"
#include "APM/ArduSubFirmwarePlugin.h"
APMFirmwarePluginFactory APMFirmwarePluginFactory;
APMFirmwarePluginFactory::APMFirmwarePluginFactory(void)
: _arduCopterPluginInstance(NULL)
, _arduPlanePluginInstance(NULL)
, _arduRoverPluginInstance(NULL)
, _arduSubPluginInstance(NULL)
{
}
QList<MAV_AUTOPILOT> APMFirmwarePluginFactory::knownFirmwareTypes(void) const
{
QList<MAV_AUTOPILOT> list;
list.append(MAV_AUTOPILOT_ARDUPILOTMEGA);
return list;
}
FirmwarePlugin* APMFirmwarePluginFactory::firmwarePluginForAutopilot(MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType)
{
if (autopilotType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
switch (vehicleType) {
case MAV_TYPE_QUADROTOR:
case MAV_TYPE_HEXAROTOR:
case MAV_TYPE_OCTOROTOR:
case MAV_TYPE_TRICOPTER:
case MAV_TYPE_COAXIAL:
case MAV_TYPE_HELICOPTER:
if (!_arduCopterPluginInstance) {
_arduCopterPluginInstance = new ArduCopterFirmwarePlugin;
}
return _arduCopterPluginInstance;
case MAV_TYPE_FIXED_WING:
if (!_arduPlanePluginInstance) {
_arduPlanePluginInstance = new ArduPlaneFirmwarePlugin;
}
return _arduPlanePluginInstance;
case MAV_TYPE_GROUND_ROVER:
case MAV_TYPE_SURFACE_BOAT:
if (!_arduRoverPluginInstance) {
_arduRoverPluginInstance = new ArduRoverFirmwarePlugin;
}
return _arduRoverPluginInstance;
case MAV_TYPE_SUBMARINE:
if (!_arduSubPluginInstance) {
_arduSubPluginInstance = new ArduSubFirmwarePlugin;
}
return _arduSubPluginInstance;
default:
break;
}
}
return NULL;
}
src/FirmwarePlugin/APM/APMFirmwarePluginFactory.h 0 → 100644
View file @ 0ce6d773
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#ifndef APMFirmwarePluginFactory_H
#define APMFirmwarePluginFactory_H
#include "FirmwarePlugin.h"
class ArduCopterFirmwarePlugin;
class ArduPlaneFirmwarePlugin;
class ArduRoverFirmwarePlugin;
class ArduSubFirmwarePlugin;
class APMFirmwarePluginFactory : public FirmwarePluginFactory
{
Q_OBJECT
public:
APMFirmwarePluginFactory(void);
QList<MAV_AUTOPILOT> knownFirmwareTypes (void) const final;
FirmwarePlugin* firmwarePluginForAutopilot (MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType) final;
private:
ArduCopterFirmwarePlugin* _arduCopterPluginInstance;
ArduPlaneFirmwarePlugin* _arduPlanePluginInstance;
ArduRoverFirmwarePlugin* _arduRoverPluginInstance;
ArduSubFirmwarePlugin* _arduSubPluginInstance;
};
#endif
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