GenericAutoPilotPlugin.cc 3.13 KB
Newer Older
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
/*=====================================================================
 
 QGroundControl Open Source Ground Control Station
 
 (c) 2009 - 2014 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/>.
 
 ======================================================================*/

/// @file
///     @author Don Gagne <don@thegagnes.com>

#include "GenericAutoPilotPlugin.h"

29
GenericAutoPilotPlugin::GenericAutoPilotPlugin(UASInterface* uas, QObject* parent) :
Don Gagne's avatar
Don Gagne committed
30
    AutoPilotPlugin(parent)
31
{
32
    Q_UNUSED(uas);
33 34
}

35
QList<AutoPilotPluginManager::FullMode_t> GenericAutoPilotPlugin::getModes(void)
36
{
37 38
    AutoPilotPluginManager::FullMode_t fullMode;
    QList<AutoPilotPluginManager::FullMode_t> modeList;
39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56

    fullMode.customMode = 0;
    
    fullMode.baseMode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
    modeList << fullMode;
    
    fullMode.baseMode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
    modeList << fullMode;
    
    fullMode.baseMode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
    modeList << fullMode;

    fullMode.baseMode = MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
    modeList << fullMode;
    
    return modeList;
}

57
QString GenericAutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMode)
58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79
{
    Q_UNUSED(customMode);
    
    QString mode;
    
    // use base_mode - not autopilot-specific
    if (baseMode == 0) {
        mode = "|PREFLIGHT";
    } else if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_AUTO) {
        mode = "|AUTO";
    } else if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_MANUAL) {
        mode = "|MANUAL";
        if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_GUIDED) {
            mode += "|GUIDED";
        } else if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_STABILIZE) {
            mode += "|STABILIZED";
        }
    }
    
    return mode;
}

80
void GenericAutoPilotPlugin::clearStaticData(void)
Don Gagne's avatar
Don Gagne committed
81
{
82 83 84 85 86 87 88
    // No Static data yet
}

const QVariantList& GenericAutoPilotPlugin::components(void)
{
    static QVariantList staticList;
    
89
    Q_ASSERT_X(false, "Not yet implemented", "");
90
    return staticList;
Don Gagne's avatar
Don Gagne committed
91
}
92

93
const QVariantMap& GenericAutoPilotPlugin::parameters(void)
94
{
95 96 97 98
    static QVariantMap staticMap;
    
    Q_ASSERT_X(false, "Not yet implemented", "");
    return staticMap;
99 100
}

101
QUrl GenericAutoPilotPlugin::setupBackgroundImage(void)
102
{
103 104 105 106
    static QUrl url;
    
    Q_ASSERT_X(false, "Not yet implemented", "");
    return url;
107
}