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Valentin Platzgummer
qgroundcontrol
Commits
5a21eeae
Commit
5a21eeae
authored
Apr 27, 2015
by
Don Gagne
Browse files
Add support for fake RC output
parent
97c8b6dc
Changes
2
Hide whitespace changes
Inline
Side-by-side
src/qgcunittest/MockLink.cc
View file @
5a21eeae
...
...
@@ -422,19 +422,31 @@ float MockLink::_floatUnionForParam(int componentId, const QString& paramName)
switch
(
paramType
)
{
case
MAV_PARAM_TYPE_INT8
:
valueUnion
.
param_int8
=
(
unsigned
char
)
paramVar
.
toChar
().
toLatin1
();
if
(
_autopilotType
==
MAV_AUTOPILOT_ARDUPILOTMEGA
)
{
valueUnion
.
param_float
=
(
unsigned
char
)
paramVar
.
toChar
().
toLatin1
();
}
else
{
valueUnion
.
param_int8
=
(
unsigned
char
)
paramVar
.
toChar
().
toLatin1
();
}
break
;
case
MAV_PARAM_TYPE_INT32
:
valueUnion
.
param_int32
=
paramVar
.
toInt
();
if
(
_autopilotType
==
MAV_AUTOPILOT_ARDUPILOTMEGA
)
{
valueUnion
.
param_float
=
paramVar
.
toInt
();
}
else
{
valueUnion
.
param_int32
=
paramVar
.
toInt
();
}
break
;
case
MAV_PARAM_TYPE_UINT32
:
valueUnion
.
param_uint32
=
paramVar
.
toUInt
();
if
(
_autopilotType
==
MAV_AUTOPILOT_ARDUPILOTMEGA
)
{
valueUnion
.
param_float
=
paramVar
.
toUInt
();
}
else
{
valueUnion
.
param_uint32
=
paramVar
.
toUInt
();
}
break
;
case
MAV_PARAM_TYPE_REAL32
:
valueUnion
.
param_float
=
paramVar
.
toFloat
();
valueUnion
.
param_float
=
paramVar
.
toFloat
();
break
;
default:
...
...
@@ -454,7 +466,7 @@ void MockLink::_handleParamRequestList(const mavlink_message_t& msg)
Q_ASSERT
(
request
.
target_component
==
MAV_COMP_ID_ALL
);
foreach
(
int
componentId
,
_mapParamName2Value
.
keys
())
{
uint16_t
paramIndex
=
1
;
uint16_t
paramIndex
=
0
;
int
cParameters
=
_mapParamName2Value
[
componentId
].
count
();
foreach
(
QString
paramName
,
_mapParamName2Value
[
componentId
].
keys
())
{
...
...
@@ -469,7 +481,7 @@ void MockLink::_handleParamRequestList(const mavlink_message_t& msg)
Q_ASSERT
(
paramName
.
length
()
<=
MAVLINK_MSG_ID_PARAM_VALUE_LEN
);
strncpy
(
paramId
,
paramName
.
toLocal8Bit
().
constData
(),
MAVLINK_MSG_ID_PARAM_VALUE_LEN
);
qCDebug
(
MockLinkLog
)
<<
"Sending msg_param_value"
<<
paramId
<<
paramType
;
qCDebug
(
MockLinkLog
)
<<
"Sending msg_param_value"
<<
componentId
<<
paramId
<<
paramType
<<
_mapParamName2Value
[
componentId
][
paramId
]
;
mavlink_msg_param_value_pack
(
_vehicleSystemId
,
componentId
,
// component id
...
...
@@ -535,7 +547,7 @@ void MockLink::_handleParamRequestRead(const mavlink_message_t& msg)
}
else
{
// Request is by index
Q_ASSERT
(
request
.
param_index
>=
0
&&
request
.
param_index
<
_mapParamName2Value
.
count
());
Q_ASSERT
(
request
.
param_index
>=
0
&&
request
.
param_index
<
_mapParamName2Value
[
componentId
]
.
count
());
QString
key
=
_mapParamName2Value
[
componentId
].
keys
().
at
(
request
.
param_index
);
Q_ASSERT
(
key
.
length
()
<=
MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN
);
...
...
@@ -618,3 +630,40 @@ void MockLink::_handleMissionItem(const mavlink_message_t& msg)
_missionItems
[
request
.
seq
]
=
request
;
}
void
MockLink
::
emitRemoteControlChannelRawChanged
(
int
channel
,
uint16_t
raw
)
{
uint16_t
chanRaw
[
18
];
for
(
int
i
=
0
;
i
<
18
;
i
++
)
{
chanRaw
[
i
]
=
UINT16_MAX
;
}
chanRaw
[
channel
]
=
raw
;
mavlink_message_t
responseMsg
;
mavlink_msg_rc_channels_pack
(
_vehicleSystemId
,
_vehicleComponentId
,
&
responseMsg
,
// Outgoing message
0
,
// time since boot, ignored
18
,
// channel count
chanRaw
[
0
],
// channel raw value
chanRaw
[
1
],
// channel raw value
chanRaw
[
2
],
// channel raw value
chanRaw
[
3
],
// channel raw value
chanRaw
[
4
],
// channel raw value
chanRaw
[
5
],
// channel raw value
chanRaw
[
6
],
// channel raw value
chanRaw
[
7
],
// channel raw value
chanRaw
[
8
],
// channel raw value
chanRaw
[
9
],
// channel raw value
chanRaw
[
10
],
// channel raw value
chanRaw
[
11
],
// channel raw value
chanRaw
[
12
],
// channel raw value
chanRaw
[
13
],
// channel raw value
chanRaw
[
14
],
// channel raw value
chanRaw
[
15
],
// channel raw value
chanRaw
[
16
],
// channel raw value
chanRaw
[
17
],
// channel raw value
0
);
// rss
_emitMavlinkMessage
(
responseMsg
);
}
src/qgcunittest/MockLink.h
View file @
5a21eeae
...
...
@@ -70,6 +70,7 @@ public:
// MockLink methods
MAV_AUTOPILOT
getAutopilotType
(
void
)
{
return
_autopilotType
;
}
void
setAutopilotType
(
MAV_AUTOPILOT
autopilot
)
{
_autopilotType
=
autopilot
;
}
void
emitRemoteControlChannelRawChanged
(
int
channel
,
uint16_t
raw
);
// These are left unimplemented in order to cause linker errors which indicate incorrect usage of
// connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager.
...
...
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