SlugsMAV.h 4.1 KB
Newer Older
Alejandro's avatar
Alejandro committed
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
/*=====================================================================

QGroundControl Open Source Ground Control Station

(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>

This file is part of the QGROUNDCONTROL project

    QGROUNDCONTROL is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    QGROUNDCONTROL is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.

======================================================================*/

#ifndef SLUGSMAV_H
#define SLUGSMAV_H

#include "UAS.h"
#include "mavlink.h"
#include <QTimer>

31
#define SLUGS_UPDATE_RATE   200   // in ms
Alejandro's avatar
Alejandro committed
32
33
34
35
class SlugsMAV : public UAS
{
    Q_OBJECT
    Q_INTERFACES(UASInterface)
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54

    enum SLUGS_ACTION {
        SLUGS_ACTION_NONE,
        SLUGS_ACTION_SUCCESS,
        SLUGS_ACTION_FAIL,
        SLUGS_ACTION_EEPROM,
        SLUGS_ACTION_MODE_CHANGE,
        SLUGS_ACTION_MODE_REPORT,
        SLUGS_ACTION_PT_CHANGE,
        SLUGS_ACTION_PT_REPORT,
        SLUGS_ACTION_PID_CHANGE,
        SLUGS_ACTION_PID_REPORT,
        SLUGS_ACTION_WP_CHANGE,
        SLUGS_ACTION_WP_REPORT,
        SLUGS_ACTION_MLC_CHANGE,
        SLUGS_ACTION_MLC_REPORT
    };


Alejandro's avatar
Alejandro committed
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
public:
    SlugsMAV(MAVLinkProtocol* mavlink, int id = 0);

public slots:
    /** @brief Receive a MAVLink message from this MAV */
    void receiveMessage(LinkInterface* link, mavlink_message_t message);

    void emitSignals (void);

signals:

    void slugsRawImu(int uasId, const mavlink_raw_imu_t& rawData);
    void slugsGPSCogSog(int uasId, double cog, double sog);

#ifdef MAVLINK_ENABLED_SLUGS

    void slugsCPULoad(int systemId, const mavlink_cpu_load_t& cpuLoad);
    void slugsAirData(int systemId, const mavlink_air_data_t& airData);
    void slugsSensorBias(int systemId, const mavlink_sensor_bias_t& sensorBias);
    void slugsDiagnostic(int systemId, const mavlink_diagnostic_t& diagnostic);
    void slugsNavegation(int systemId, const mavlink_slugs_navigation_t& slugsNavigation);
    void slugsDataLog(int systemId, const mavlink_data_log_t& dataLog);
    void slugsGPSDateTime(int systemId, const mavlink_gps_date_time_t& gpsDateTime);
    void slugsActionAck(int systemId, const mavlink_action_ack_t& actionAck);

    void slugsBootMsg(int uasId, mavlink_boot_t& boot);
    void slugsAttitude(int uasId, mavlink_attitude_t& attitude);

83
84
85
    void slugsScaled(int uasId, const mavlink_scaled_imu_t& scaled);
    void slugsServo(int uasId, const mavlink_servo_output_raw_t& servo);
    void slugsChannels(int uasId, const mavlink_rc_channels_raw_t& channels);
Alejandro's avatar
Alejandro committed
86
87
88
89

#endif

protected:
90
91
92
93
    unsigned char updateRoundRobin;
    QTimer* widgetTimer;
    mavlink_raw_imu_t mlRawImuData;

94
#ifdef MAVLINK_ENABLED_SLUGS
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
    mavlink_gps_raw_t mlGpsData;
    mavlink_attitude_t mlAttitude;
    mavlink_cpu_load_t mlCpuLoadData;
    mavlink_air_data_t mlAirData;
    mavlink_sensor_bias_t mlSensorBiasData;
    mavlink_diagnostic_t mlDiagnosticData;
    mavlink_boot_t mlBoot;
    mavlink_gps_date_time_t mlGpsDateTime;
    mavlink_mid_lvl_cmds_t mlMidLevelCommands;
    mavlink_set_mode_t mlApMode;

    mavlink_slugs_navigation_t mlNavigation;
    mavlink_data_log_t mlDataLog;
    mavlink_ctrl_srfc_pt_t mlPassthrough;
    mavlink_action_ack_t mlActionAck;

    mavlink_slugs_action_t mlAction;

    mavlink_scaled_imu_t mlScaled;
    mavlink_servo_output_raw_t mlServo;
    mavlink_rc_channels_raw_t mlChannels;
Alejandro's avatar
Alejandro committed
116
117


118
    // Standart messages MAVLINK used by SLUGS
Alejandro's avatar
Alejandro committed
119
120
121
private:


122
123
    void emitGpsSignals (void);
    void emitPidSignal(void);
Alejandro's avatar
Alejandro committed
124

125
    int uasId;
Alejandro's avatar
Alejandro committed
126
127
128
129
130
131

#endif // if SLUGS

};

#endif // SLUGSMAV_H