APMFirmwarePlugin.cc 36.4 KB
Newer Older
1 2 3 4 5 6 7 8
/****************************************************************************
 *
 *   (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.
 *
 ****************************************************************************/
Don Gagne's avatar
Don Gagne committed
9

Don Gagne's avatar
Don Gagne committed
10
#include "APMFirmwarePlugin.h"
11
#include "APMAutoPilotPlugin.h"
12
#include "QGCMAVLink.h"
13
#include "QGCApplication.h"
14 15 16
#include "APMFlightModesComponentController.h"
#include "APMAirframeComponentController.h"
#include "APMSensorsComponentController.h"
17
#include "MissionManager.h"
18
#include "ParameterManager.h"
Don Gagne's avatar
Don Gagne committed
19

Don Gagne's avatar
Don Gagne committed
20 21
#include <QTcpSocket>

Pritam Ghanghas's avatar
Pritam Ghanghas committed
22
QGC_LOGGING_CATEGORY(APMFirmwarePluginLog, "APMFirmwarePluginLog")
Don Gagne's avatar
Don Gagne committed
23

24
static const QRegExp APM_COPTER_REXP("^(ArduCopter|APM:Copter)");
25
static const QRegExp APM_SOLO_REXP("^(APM:Copter solo-)");
26 27
static const QRegExp APM_PLANE_REXP("^(ArduPlane|APM:Plane)");
static const QRegExp APM_ROVER_REXP("^(ArduRover|APM:Rover)");
28
static const QRegExp APM_SUB_REXP("^(ArduSub|APM:Sub)");
29 30 31
static const QRegExp APM_PX4NUTTX_REXP("^PX4: .*NuttX: .*");
static const QRegExp APM_FRAME_REXP("^Frame: ");
static const QRegExp APM_SYSID_REXP("^PX4v2 ");
32 33

// Regex to parse version text coming from APM, gives out firmware type, major, minor and patch level numbers
34
static const QRegExp VERSION_REXP("^(APM:Copter|APM:Plane|APM:Rover|APM:Sub|ArduCopter|ArduPlane|ArduRover|ArduSub) +[vV](\\d*)\\.*(\\d*)*\\.*(\\d*)*");
35 36 37

// minimum firmware versions that don't suffer from mavlink severity inversion bug.
// https://github.com/diydrones/apm_planner/issues/788
38
static const QString MIN_SOLO_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Copter solo-1.2.0");
39 40
static const QString MIN_COPTER_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Copter V3.4.0");
static const QString MIN_PLANE_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Plane V3.4.0");
41
static const QString MIN_SUB_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Sub V3.4.0");
42 43
static const QString MIN_ROVER_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Rover V2.6.0");

Don Gagne's avatar
Don Gagne committed
44 45
const char* APMFirmwarePlugin::_artooIP =                   "10.1.1.1"; ///< IP address of ARTOO controller
const int   APMFirmwarePlugin::_artooVideoHandshakePort =   5502;       ///< Port for video handshake on ARTOO controller
46 47 48 49 50 51 52 53 54 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 83 84 85 86 87 88 89 90 91 92

/*
 * @brief APMFirmwareVersion is a small class to represent the firmware version
 * It encabsules vehicleType, major version, minor version and patch level version
 * and provides accessors for the same.
 * isValid() can be used, to know whether version infromation is available or not
 * supports < operator
 */
APMFirmwareVersion::APMFirmwareVersion(const QString &versionText)
{
    _major         = 0;
    _minor         = 0;
    _patch         = 0;

    _parseVersion(versionText);
}

bool APMFirmwareVersion::isValid() const
{
    return !_versionString.isEmpty();
}

bool APMFirmwareVersion::isBeta() const
{
    return _versionString.contains(QStringLiteral(".rc"));
}

bool APMFirmwareVersion::isDev() const
{
    return _versionString.contains(QStringLiteral(".dev"));
}

bool APMFirmwareVersion::operator <(const APMFirmwareVersion& other) const
{
    int myVersion = _major << 16 | _minor << 8 | _patch ;
    int otherVersion = other.majorNumber() << 16 | other.minorNumber() << 8 | other.patchNumber();
    return myVersion < otherVersion;
}

void APMFirmwareVersion::_parseVersion(const QString &versionText)
{
    if (versionText.isEmpty()) {
        return;
    }


    if (VERSION_REXP.indexIn(versionText) == -1) {
Pritam Ghanghas's avatar
Pritam Ghanghas committed
93 94
        qCWarning(APMFirmwarePluginLog) << "firmware version regex didn't match anything"
                                        << "version text to be parsed" << versionText;
95 96 97 98 99 100
        return;
    }

    QStringList capturedTexts = VERSION_REXP.capturedTexts();

    if (capturedTexts.count() < 5) {
Pritam Ghanghas's avatar
Pritam Ghanghas committed
101 102
        qCWarning(APMFirmwarePluginLog) << "something wrong with parsing the version text, not hitting anything"
                                        << VERSION_REXP.captureCount() << VERSION_REXP.capturedTexts();
103 104 105 106 107 108 109 110 111 112 113 114 115
        return;
    }

    // successful extraction of version numbers
    // even though we could have collected the version string atleast
    // but if the parsing has faild, not much point
    _versionString = versionText;
    _vehicleType   = capturedTexts[1];
    _major         = capturedTexts[2].toInt();
    _minor         = capturedTexts[3].toInt();
    _patch         = capturedTexts[4].toInt();
}

116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139

/*
 * @brief APMCustomMode encapsulates the custom modes for APM
 */
APMCustomMode::APMCustomMode(uint32_t mode, bool settable) :
    _mode(mode),
    _settable(settable)
{
}

void APMCustomMode::setEnumToStringMapping(const QMap<uint32_t, QString>& enumToString)
{
    _enumToString = enumToString;
}

QString APMCustomMode::modeString() const
{
    QString mode = _enumToString.value(modeAsInt());
    if (mode.isEmpty()) {
        mode = "mode" + QString::number(modeAsInt());
    }
    return mode;
}

140 141 142 143 144 145 146
APMFirmwarePluginInstanceData::APMFirmwarePluginInstanceData(QObject* parent)
    : QObject(parent)
    , textSeverityAdjustmentNeeded(false)
{

}

147
APMFirmwarePlugin::APMFirmwarePlugin(void)
Don Gagne's avatar
Don Gagne committed
148
    : _coaxialMotors(false)
Don Gagne's avatar
Don Gagne committed
149
{
150 151 152 153
    qmlRegisterType<APMFlightModesComponentController>  ("QGroundControl.Controllers", 1, 0, "APMFlightModesComponentController");
    qmlRegisterType<APMAirframeComponentController>     ("QGroundControl.Controllers", 1, 0, "APMAirframeComponentController");
    qmlRegisterType<APMSensorsComponentController>      ("QGroundControl.Controllers", 1, 0, "APMSensorsComponentController");
}
Don Gagne's avatar
Don Gagne committed
154

155 156 157
AutoPilotPlugin* APMFirmwarePlugin::autopilotPlugin(Vehicle* vehicle)
{
    return new APMAutoPilotPlugin(vehicle, vehicle);
Don Gagne's avatar
Don Gagne committed
158 159
}

160
bool APMFirmwarePlugin::isCapable(const Vehicle* vehicle, FirmwareCapabilities capabilities)
Don Gagne's avatar
Don Gagne committed
161
{
162 163 164
    uint32_t available = SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability;
    if (vehicle->multiRotor()) {
        available |= TakeoffVehicleCapability;
165
    } else if (vehicle->vtol()) {
DonLakeFlyer's avatar
DonLakeFlyer committed
166
        available |= TakeoffVehicleCapability;
167
    }
168

169
    return (capabilities & available) == capabilities;
Don Gagne's avatar
Don Gagne committed
170 171 172 173 174
}

QList<VehicleComponent*> APMFirmwarePlugin::componentsForVehicle(AutoPilotPlugin* vehicle)
{
    Q_UNUSED(vehicle);
175

Don Gagne's avatar
Don Gagne committed
176 177 178
    return QList<VehicleComponent*>();
}

Daniel Agar's avatar
Daniel Agar committed
179
QStringList APMFirmwarePlugin::flightModes(Vehicle* vehicle)
180
{
Daniel Agar's avatar
Daniel Agar committed
181
    Q_UNUSED(vehicle)
182 183 184 185 186 187 188
    QStringList flightModesList;
    foreach (const APMCustomMode& customMode, _supportedModes) {
        if (customMode.canBeSet()) {
            flightModesList << customMode.modeString();
        }
    }
    return flightModesList;
Don Gagne's avatar
Don Gagne committed
189 190
}

Don Gagne's avatar
Don Gagne committed
191
QString APMFirmwarePlugin::flightMode(uint8_t base_mode, uint32_t custom_mode) const
Don Gagne's avatar
Don Gagne committed
192
{
193 194 195 196 197 198 199 200 201 202
    QString flightMode = "Unknown";

    if (base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
        foreach (const APMCustomMode& customMode, _supportedModes) {
            if (customMode.modeAsInt() == custom_mode) {
                flightMode = customMode.modeString();
            }
        }
    }
    return flightMode;
Don Gagne's avatar
Don Gagne committed
203 204 205 206
}

bool APMFirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode)
{
207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225
    *base_mode = 0;
    *custom_mode = 0;

    bool found = false;

    foreach(const APMCustomMode& mode, _supportedModes) {
        if (flightMode.compare(mode.modeString(), Qt::CaseInsensitive) == 0) {
            *base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
            *custom_mode = mode.modeAsInt();
            found = true;
            break;
        }
    }

    if (!found) {
        qCWarning(APMFirmwarePluginLog) << "Unknown flight Mode" << flightMode;
    }

    return found;
Don Gagne's avatar
Don Gagne committed
226 227 228 229 230 231 232 233 234
}

int APMFirmwarePlugin::manualControlReservedButtonCount(void)
{
    // We don't know whether the firmware is going to used any of these buttons.
    // So reserve them all.
    return -1;
}

235
void APMFirmwarePlugin::_handleIncomingParamValue(Vehicle* vehicle, mavlink_message_t* message)
Don Gagne's avatar
Don Gagne committed
236
{
Don Gagne's avatar
Don Gagne committed
237 238 239 240 241
    Q_UNUSED(vehicle);

    mavlink_param_value_t paramValue;
    mavlink_param_union_t paramUnion;

Don Gagne's avatar
Don Gagne committed
242 243
    memset(&paramValue, 0, sizeof(paramValue));

Don Gagne's avatar
Don Gagne committed
244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272
    // APM stack passes all parameter values in mavlink_param_union_t.param_float no matter what
    // type they are. Fix that up to correct usage.

    mavlink_msg_param_value_decode(message, &paramValue);

    switch (paramValue.param_type) {
    case MAV_PARAM_TYPE_UINT8:
        paramUnion.param_uint8 = (uint8_t)paramValue.param_value;
        break;
    case MAV_PARAM_TYPE_INT8:
        paramUnion.param_int8 = (int8_t)paramValue.param_value;
        break;
    case MAV_PARAM_TYPE_UINT16:
        paramUnion.param_uint16 = (uint16_t)paramValue.param_value;
        break;
    case MAV_PARAM_TYPE_INT16:
        paramUnion.param_int16 = (int16_t)paramValue.param_value;
        break;
    case MAV_PARAM_TYPE_UINT32:
        paramUnion.param_uint32 = (uint32_t)paramValue.param_value;
        break;
    case MAV_PARAM_TYPE_INT32:
        paramUnion.param_int32 = (int32_t)paramValue.param_value;
        break;
    case MAV_PARAM_TYPE_REAL32:
        paramUnion.param_float = paramValue.param_value;
        break;
    default:
        qCCritical(APMFirmwarePluginLog) << "Invalid/Unsupported data type used in parameter:" << paramValue.param_type;
273 274
    }

Don Gagne's avatar
Don Gagne committed
275 276
    paramValue.param_value = paramUnion.param_float;

277 278 279
    // Re-Encoding is always done using mavlink 1.0
    mavlink_status_t* mavlinkStatusReEncode = mavlink_get_channel_status(0);
    mavlinkStatusReEncode->flags |= MAVLINK_STATUS_FLAG_IN_MAVLINK1;
280 281
    mavlink_msg_param_value_encode_chan(message->sysid,
                                        message->compid,
282
                                        0,                  // Re-encoding uses reserved channel 0
283 284
                                        message,
                                        &paramValue);
Don Gagne's avatar
Don Gagne committed
285 286
}

287
void APMFirmwarePlugin::_handleOutgoingParamSet(Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message)
Don Gagne's avatar
Don Gagne committed
288 289 290 291 292 293
{
    Q_UNUSED(vehicle);

    mavlink_param_set_t     paramSet;
    mavlink_param_union_t   paramUnion;

Don Gagne's avatar
Don Gagne committed
294 295
    memset(&paramSet, 0, sizeof(paramSet));

Don Gagne's avatar
Don Gagne committed
296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326
    // APM stack passes all parameter values in mavlink_param_union_t.param_float no matter what
    // type they are. Fix it back to the wrong way on the way out.

    mavlink_msg_param_set_decode(message, &paramSet);

    paramUnion.param_float = paramSet.param_value;

    switch (paramSet.param_type) {
    case MAV_PARAM_TYPE_UINT8:
        paramSet.param_value = paramUnion.param_uint8;
        break;
    case MAV_PARAM_TYPE_INT8:
        paramSet.param_value = paramUnion.param_int8;
        break;
    case MAV_PARAM_TYPE_UINT16:
        paramSet.param_value = paramUnion.param_uint16;
        break;
    case MAV_PARAM_TYPE_INT16:
        paramSet.param_value = paramUnion.param_int16;
        break;
    case MAV_PARAM_TYPE_UINT32:
        paramSet.param_value = paramUnion.param_uint32;
        break;
    case MAV_PARAM_TYPE_INT32:
        paramSet.param_value = paramUnion.param_int32;
        break;
    case MAV_PARAM_TYPE_REAL32:
        // Already in param_float
        break;
    default:
        qCCritical(APMFirmwarePluginLog) << "Invalid/Unsupported data type used in parameter:" << paramSet.param_type;
Don Gagne's avatar
Don Gagne committed
327 328
    }

329
    mavlink_msg_param_set_encode_chan(message->sysid, message->compid, outgoingLink->mavlinkChannel(), message, &paramSet);
Don Gagne's avatar
Don Gagne committed
330 331
}

332
bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* vehicle, mavlink_message_t* message)
Don Gagne's avatar
Don Gagne committed
333 334
{
    QString messageText;
335
    APMFirmwarePluginInstanceData* instanceData = qobject_cast<APMFirmwarePluginInstanceData*>(vehicle->firmwarePluginInstanceData());
336

Don Gagne's avatar
Don Gagne committed
337 338 339
    mavlink_statustext_t statusText;
    mavlink_msg_statustext_decode(message, &statusText);

340
    if (vehicle->firmwareMajorVersion() == Vehicle::versionNotSetValue || statusText.severity < MAV_SEVERITY_NOTICE) {
Don Gagne's avatar
Don Gagne committed
341 342 343
        messageText = _getMessageText(message);
        qCDebug(APMFirmwarePluginLog) << messageText;

Don Gagne's avatar
Don Gagne committed
344
        if (!messageText.contains(APM_SOLO_REXP)) {
Don Gagne's avatar
Don Gagne committed
345
            // if don't know firmwareVersion yet, try and see if this message contains it
346
            if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP) || messageText.contains(APM_SUB_REXP)) {
Don Gagne's avatar
Don Gagne committed
347
                // found version string
Don Gagne's avatar
Don Gagne committed
348
                APMFirmwareVersion firmwareVersion(messageText);
349
                instanceData->textSeverityAdjustmentNeeded = _isTextSeverityAdjustmentNeeded(firmwareVersion);
Don Gagne's avatar
Don Gagne committed
350 351 352 353 354 355 356

                vehicle->setFirmwareVersion(firmwareVersion.majorNumber(), firmwareVersion.minorNumber(), firmwareVersion.patchNumber());

                int supportedMajorNumber = -1;
                int supportedMinorNumber = -1;

                switch (vehicle->vehicleType()) {
DonLakeFlyer's avatar
DonLakeFlyer committed
357 358 359 360 361 362 363
                case MAV_TYPE_VTOL_DUOROTOR:
                case MAV_TYPE_VTOL_QUADROTOR:
                case MAV_TYPE_VTOL_TILTROTOR:
                case MAV_TYPE_VTOL_RESERVED2:
                case MAV_TYPE_VTOL_RESERVED3:
                case MAV_TYPE_VTOL_RESERVED4:
                case MAV_TYPE_VTOL_RESERVED5:
Don Gagne's avatar
Don Gagne committed
364 365
                case MAV_TYPE_FIXED_WING:
                    supportedMajorNumber = 3;
DonLakeFlyer's avatar
DonLakeFlyer committed
366
                    supportedMinorNumber = 4;
Don Gagne's avatar
Don Gagne committed
367 368 369 370 371 372 373 374 375
                    break;
                case MAV_TYPE_QUADROTOR:
                case MAV_TYPE_COAXIAL:
                case MAV_TYPE_HELICOPTER:
                case MAV_TYPE_SUBMARINE:
                case MAV_TYPE_HEXAROTOR:
                case MAV_TYPE_OCTOROTOR:
                case MAV_TYPE_TRICOPTER:
                    supportedMajorNumber = 3;
DonLakeFlyer's avatar
DonLakeFlyer committed
376
                    supportedMinorNumber = 3;
Don Gagne's avatar
Don Gagne committed
377 378 379 380
                    break;
                default:
                    break;
                }
Don Gagne's avatar
Don Gagne committed
381

Don Gagne's avatar
Don Gagne committed
382 383
                if (supportedMajorNumber != -1) {
                    if (firmwareVersion.majorNumber() < supportedMajorNumber || firmwareVersion.minorNumber() < supportedMinorNumber) {
384
                        qgcApp()->showMessage(tr("QGroundControl fully supports Version %1.%2 and above. You are using a version prior to that. This combination is untested, you may run into unpredictable results.").arg(supportedMajorNumber).arg(supportedMinorNumber));
385
                    }
Don Gagne's avatar
Don Gagne committed
386 387
                }
            }
Don Gagne's avatar
Don Gagne committed
388
        }
Don Gagne's avatar
Don Gagne committed
389

Don Gagne's avatar
Don Gagne committed
390 391
        // APM user facing calibration messages come through as high severity, we need to parse them out
        // and lower the severity on them so that they don't pop in the users face.
392

Don Gagne's avatar
Don Gagne committed
393 394
        if (messageText.contains("Place vehicle") || messageText.contains("Calibration successful")) {
            _adjustCalibrationMessageSeverity(message);
395
            return true;
396
        }
Don Gagne's avatar
Don Gagne committed
397
    }
398

Don Gagne's avatar
Don Gagne committed
399
    // adjust mesasge if needed
400
    if (instanceData->textSeverityAdjustmentNeeded) {
Don Gagne's avatar
Don Gagne committed
401 402
        _adjustSeverity(message);
    }
403

Don Gagne's avatar
Don Gagne committed
404 405 406 407 408 409
    if (messageText.isEmpty()) {
        messageText = _getMessageText(message);
    }

    // The following messages are incorrectly labeled as warning message.
    // Fixed in newer firmware (unreleased at this point), but still in older firmware.
410
    if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP) || messageText.contains(APM_SUB_REXP) ||
Don Gagne's avatar
Don Gagne committed
411 412 413
            messageText.contains(APM_PX4NUTTX_REXP) || messageText.contains(APM_FRAME_REXP) || messageText.contains(APM_SYSID_REXP)) {
        _setInfoSeverity(message);
    }
414

Don Gagne's avatar
Don Gagne committed
415 416
    if (messageText.contains(APM_SOLO_REXP)) {
        qDebug() << "Found Solo";
417
        vehicle->setSoloFirmware(true);
Don Gagne's avatar
Don Gagne committed
418 419 420 421 422 423

        // Fix up severity
        _setInfoSeverity(message);

        // Start TCP video handshake with ARTOO
        _soloVideoHandshake(vehicle);
Don Gagne's avatar
Don Gagne committed
424 425 426 427 428 429 430 431 432
    } else if (messageText.contains(APM_FRAME_REXP)) {
        // We need to parse the Frame: message in order to determine whether the motors are coaxial or not
        QRegExp frameTypeRegex("^Frame: (\\S*)");
        if (frameTypeRegex.indexIn(messageText) != -1) {
            QString frameType = frameTypeRegex.cap(1);
            if (!frameType.isEmpty() && (frameType == QStringLiteral("Y6") || frameType == QStringLiteral("OCTA_QUAD") || frameType == QStringLiteral("COAX"))) {
                _coaxialMotors = true;
            }
        }
Don Gagne's avatar
Don Gagne committed
433 434
    }

435
    if (messageText.startsWith("PreArm")) {
Don Gagne's avatar
Don Gagne committed
436 437
        // ArduPilot PreArm messages can come across very frequently especially on Solo, which seems to send them once a second.
        // Filter them out if they come too quickly.
438
        if (instanceData->noisyPrearmMap.contains(messageText) && instanceData->noisyPrearmMap[messageText].msecsTo(QTime::currentTime()) < (10 * 1000)) {
439 440
            return false;
        }
441
        instanceData->noisyPrearmMap[messageText] = QTime::currentTime();
Don Gagne's avatar
Don Gagne committed
442 443

        vehicle->setPrearmError(messageText);
444 445 446
    }

    return true;
Don Gagne's avatar
Don Gagne committed
447 448
}

449
void APMFirmwarePlugin::_handleIncomingHeartbeat(Vehicle* vehicle, mavlink_message_t* message)
Don Gagne's avatar
Don Gagne committed
450 451
{
    bool flying = false;
452

Don Gagne's avatar
Don Gagne committed
453 454 455 456 457 458 459 460 461 462
    // We pull Vehicle::flying state from HEARTBEAT on ArduPilot. This is a firmware specific test.

    if (vehicle->armed()) {
        mavlink_heartbeat_t heartbeat;
        mavlink_msg_heartbeat_decode(message, &heartbeat);

        flying = heartbeat.system_status == MAV_STATE_ACTIVE;
        if (!flying && vehicle->flying()) {
            // If we were previously flying, and we go into critical or emergency assume we are still flying
            flying = heartbeat.system_status == MAV_STATE_CRITICAL || heartbeat.system_status == MAV_STATE_EMERGENCY;
463
        }
464
    }
Don Gagne's avatar
Don Gagne committed
465

466
    vehicle->_setFlying(flying);
Don Gagne's avatar
Don Gagne committed
467 468
}

469
bool APMFirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message)
Don Gagne's avatar
Don Gagne committed
470 471 472
{
    //-- Don't process messages to/from UDP Bridge. It doesn't suffer from these issues
    if (message->compid == MAV_COMP_ID_UDP_BRIDGE) {
473
        return true;
Don Gagne's avatar
Don Gagne committed
474 475 476 477
    }

    switch (message->msgid) {
    case MAVLINK_MSG_ID_PARAM_VALUE:
478
        _handleIncomingParamValue(vehicle, message);
Don Gagne's avatar
Don Gagne committed
479 480
        break;
    case MAVLINK_MSG_ID_STATUSTEXT:
481
        return _handleIncomingStatusText(vehicle, message);
Don Gagne's avatar
Don Gagne committed
482
    case MAVLINK_MSG_ID_HEARTBEAT:
483
        _handleIncomingHeartbeat(vehicle, message);
Don Gagne's avatar
Don Gagne committed
484 485
        break;
    }
486 487

    return true;
Don Gagne's avatar
Don Gagne committed
488 489
}

490
void APMFirmwarePlugin::adjustOutgoingMavlinkMessage(Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message)
Don Gagne's avatar
Don Gagne committed
491 492 493 494 495 496 497 498
{
    //-- Don't process messages to/from UDP Bridge. It doesn't suffer from these issues
    if (message->compid == MAV_COMP_ID_UDP_BRIDGE) {
        return;
    }

    switch (message->msgid) {
    case MAVLINK_MSG_ID_PARAM_SET:
499
        _handleOutgoingParamSet(vehicle, outgoingLink, message);
Don Gagne's avatar
Don Gagne committed
500 501
        break;
    }
502 503
}

504 505 506 507 508 509 510 511 512 513 514 515
QString APMFirmwarePlugin::_getMessageText(mavlink_message_t* message) const
{
    QByteArray b;

    b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1);
    mavlink_msg_statustext_get_text(message, b.data());

    // Ensure NUL-termination
    b[b.length()-1] = '\0';
    return QString(b);
}

Pritam Ghanghas's avatar
Pritam Ghanghas committed
516
bool APMFirmwarePlugin::_isTextSeverityAdjustmentNeeded(const APMFirmwareVersion& firmwareVersion)
517
{
Don Gagne's avatar
Don Gagne committed
518 519 520
    if (!firmwareVersion.isValid()) {
        return false;
    }
Pritam Ghanghas's avatar
Pritam Ghanghas committed
521

Don Gagne's avatar
Don Gagne committed
522 523 524 525 526 527 528 529 530 531 532 533 534
    bool adjustmentNeeded = false;
    if (firmwareVersion.vehicleType().contains(APM_COPTER_REXP)) {
        if (firmwareVersion < APMFirmwareVersion(MIN_COPTER_VERSION_WITH_CORRECT_SEVERITY_MSGS)) {
            adjustmentNeeded = true;
        }
    } else if (firmwareVersion.vehicleType().contains(APM_PLANE_REXP)) {
        if (firmwareVersion < APMFirmwareVersion(MIN_PLANE_VERSION_WITH_CORRECT_SEVERITY_MSGS)) {
            adjustmentNeeded = true;
        }
    } else if (firmwareVersion.vehicleType().contains(APM_ROVER_REXP)) {
        if (firmwareVersion < APMFirmwareVersion(MIN_ROVER_VERSION_WITH_CORRECT_SEVERITY_MSGS)) {
            adjustmentNeeded = true;
        }
535 536 537 538
    } else if (firmwareVersion.vehicleType().contains(APM_SUB_REXP)) {
        if (firmwareVersion < APMFirmwareVersion(MIN_SUB_VERSION_WITH_CORRECT_SEVERITY_MSGS)) {
            adjustmentNeeded = true;
        }
Don Gagne's avatar
Don Gagne committed
539
    }
Pritam Ghanghas's avatar
Pritam Ghanghas committed
540

Don Gagne's avatar
Don Gagne committed
541
    return adjustmentNeeded;
Pritam Ghanghas's avatar
Pritam Ghanghas committed
542
}
543

Pritam Ghanghas's avatar
Pritam Ghanghas committed
544 545 546
void APMFirmwarePlugin::_adjustSeverity(mavlink_message_t* message) const
{
    // lets make QGC happy with right severity values
547 548 549
    mavlink_statustext_t statusText;
    mavlink_msg_statustext_decode(message, &statusText);
    switch(statusText.severity) {
Don Gagne's avatar
Don Gagne committed
550 551 552 553 554 555 556 557 558
    case MAV_SEVERITY_ALERT:    /* SEVERITY_LOW according to old codes */
        statusText.severity = MAV_SEVERITY_WARNING;
        break;
    case MAV_SEVERITY_CRITICAL: /*SEVERITY_MEDIUM according to old codes  */
        statusText.severity = MAV_SEVERITY_ALERT;
        break;
    case MAV_SEVERITY_ERROR:    /*SEVERITY_HIGH according to old codes */
        statusText.severity = MAV_SEVERITY_CRITICAL;
        break;
559 560
    }

561 562 563 564 565 566 567 568
    // Re-Encoding is always done using mavlink 1.0
    mavlink_status_t* mavlinkStatusReEncode = mavlink_get_channel_status(0);
    mavlinkStatusReEncode->flags |= MAVLINK_STATUS_FLAG_IN_MAVLINK1;
    mavlink_msg_statustext_encode_chan(message->sysid,
                                       message->compid,
                                       0,                  // Re-encoding uses reserved channel 0
                                       message,
                                       &statusText);
Don Gagne's avatar
Don Gagne committed
569
}
570

571 572 573 574 575
void APMFirmwarePlugin::_setInfoSeverity(mavlink_message_t* message) const
{
    mavlink_statustext_t statusText;
    mavlink_msg_statustext_decode(message, &statusText);

576 577 578
    // Re-Encoding is always done using mavlink 1.0
    mavlink_status_t* mavlinkStatusReEncode = mavlink_get_channel_status(0);
    mavlinkStatusReEncode->flags |= MAVLINK_STATUS_FLAG_IN_MAVLINK1;
579
    statusText.severity = MAV_SEVERITY_INFO;
580 581 582 583 584
    mavlink_msg_statustext_encode_chan(message->sysid,
                                       message->compid,
                                       0,                  // Re-encoding uses reserved channel 0
                                       message,
                                       &statusText);
585 586
}

Don Gagne's avatar
Don Gagne committed
587 588 589 590
void APMFirmwarePlugin::_adjustCalibrationMessageSeverity(mavlink_message_t* message) const
{
    mavlink_statustext_t statusText;
    mavlink_msg_statustext_decode(message, &statusText);
591 592 593
    // Re-Encoding is always done using mavlink 1.0
    mavlink_status_t* mavlinkStatusReEncode = mavlink_get_channel_status(0);
    mavlinkStatusReEncode->flags |= MAVLINK_STATUS_FLAG_IN_MAVLINK1;
Don Gagne's avatar
Don Gagne committed
594
    statusText.severity = MAV_SEVERITY_INFO;
595
    mavlink_msg_statustext_encode_chan(message->sysid, message->compid, 0, message, &statusText);
Don Gagne's avatar
Don Gagne committed
596 597
}

598 599
void APMFirmwarePlugin::initializeVehicle(Vehicle* vehicle)
{
600 601
    vehicle->setFirmwarePluginInstanceData(new APMFirmwarePluginInstanceData);

602 603 604 605 606 607 608 609 610 611
    if (vehicle->isOfflineEditingVehicle()) {
        switch (vehicle->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:
            vehicle->setFirmwareVersion(3, 4, 0);
            break;
DonLakeFlyer's avatar
DonLakeFlyer committed
612 613 614 615 616 617 618
        case MAV_TYPE_VTOL_DUOROTOR:
        case MAV_TYPE_VTOL_QUADROTOR:
        case MAV_TYPE_VTOL_TILTROTOR:
        case MAV_TYPE_VTOL_RESERVED2:
        case MAV_TYPE_VTOL_RESERVED3:
        case MAV_TYPE_VTOL_RESERVED4:
        case MAV_TYPE_VTOL_RESERVED5:
619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642
        case MAV_TYPE_FIXED_WING:
            vehicle->setFirmwareVersion(3, 5, 0);
            break;
        case MAV_TYPE_GROUND_ROVER:
        case MAV_TYPE_SURFACE_BOAT:
            vehicle->setFirmwareVersion(3, 0, 0);
            break;
        case MAV_TYPE_SUBMARINE:
            vehicle->setFirmwareVersion(3, 4, 0);
            break;
        default:
            // No version set
            break;
        }
    } else {
        // Streams are not started automatically on APM stack
        vehicle->requestDataStream(MAV_DATA_STREAM_RAW_SENSORS,     2);
        vehicle->requestDataStream(MAV_DATA_STREAM_EXTENDED_STATUS, 2);
        vehicle->requestDataStream(MAV_DATA_STREAM_RC_CHANNELS,     2);
        vehicle->requestDataStream(MAV_DATA_STREAM_POSITION,        3);
        vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA1,          10);
        vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA2,          10);
        vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA3,          3);
    }
643
}
644 645 646 647 648

void APMFirmwarePlugin::setSupportedModes(QList<APMCustomMode> supportedModes)
{
    _supportedModes = supportedModes;
}
649 650 651 652 653 654

bool APMFirmwarePlugin::sendHomePositionToVehicle(void)
{
    // APM stack wants the home position sent in the first position
    return true;
}
655

656
void APMFirmwarePlugin::addMetaDataToFact(QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType)
657
{
658
    APMParameterMetaData* apmMetaData = qobject_cast<APMParameterMetaData*>(parameterMetaData);
Don Gagne's avatar
Don Gagne committed
659

660 661 662 663 664 665
    if (apmMetaData) {
        apmMetaData->addMetaDataToFact(fact, vehicleType);
    } else {
        qWarning() << "Internal error: pointer passed to APMFirmwarePlugin::addMetaDataToFact not APMParameterMetaData";
    }
}
666

Don Gagne's avatar
Don Gagne committed
667 668 669 670
QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(void)
{
    QList<MAV_CMD> list;

671 672
    list << MAV_CMD_NAV_WAYPOINT
         << MAV_CMD_NAV_LOITER_UNLIM << MAV_CMD_NAV_LOITER_TURNS << MAV_CMD_NAV_LOITER_TIME
673
         << MAV_CMD_NAV_RETURN_TO_LAUNCH << MAV_CMD_NAV_LAND << MAV_CMD_NAV_TAKEOFF
674 675 676
         << MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT
         << MAV_CMD_NAV_LOITER_TO_ALT
         << MAV_CMD_NAV_SPLINE_WAYPOINT
677
         << MAV_CMD_NAV_GUIDED_ENABLE
678 679 680 681 682 683
         << MAV_CMD_NAV_DELAY
         << MAV_CMD_CONDITION_DELAY << MAV_CMD_CONDITION_DISTANCE << MAV_CMD_CONDITION_YAW
         << MAV_CMD_DO_SET_MODE
         << MAV_CMD_DO_JUMP
         << MAV_CMD_DO_CHANGE_SPEED
         << MAV_CMD_DO_SET_HOME
684 685
         << MAV_CMD_DO_SET_RELAY << MAV_CMD_DO_REPEAT_RELAY
         << MAV_CMD_DO_SET_SERVO << MAV_CMD_DO_REPEAT_SERVO
686 687
         << MAV_CMD_DO_LAND_START
         << MAV_CMD_DO_SET_ROI
688 689
         << MAV_CMD_DO_DIGICAM_CONFIGURE << MAV_CMD_DO_DIGICAM_CONTROL
         << MAV_CMD_DO_MOUNT_CONTROL
690 691 692 693 694 695 696 697 698
         << MAV_CMD_DO_SET_CAM_TRIGG_DIST
         << MAV_CMD_DO_FENCE_ENABLE
         << MAV_CMD_DO_PARACHUTE
         << MAV_CMD_DO_INVERTED_FLIGHT
         << MAV_CMD_DO_GRIPPER
         << MAV_CMD_DO_GUIDED_LIMITS
         << MAV_CMD_DO_AUTOTUNE_ENABLE
         << MAV_CMD_NAV_VTOL_TAKEOFF << MAV_CMD_NAV_VTOL_LAND << MAV_CMD_DO_VTOL_TRANSITION;
#if 0
699 700
    // Waiting for module update
    << MAV_CMD_DO_SET_REVERSE;
701
#endif
Don Gagne's avatar
Don Gagne committed
702

Don Gagne's avatar
Don Gagne committed
703 704
    return list;
}
705

706
QString APMFirmwarePlugin::missionCommandOverrides(MAV_TYPE vehicleType) const
707
{
708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730
    switch (vehicleType) {
    case MAV_TYPE_GENERIC:
        return QStringLiteral(":/json/APM/MavCmdInfoCommon.json");
        break;
    case MAV_TYPE_FIXED_WING:
        return QStringLiteral(":/json/APM/MavCmdInfoFixedWing.json");
        break;
    case MAV_TYPE_QUADROTOR:
        return QStringLiteral(":/json/APM/MavCmdInfoMultiRotor.json");
        break;
    case MAV_TYPE_VTOL_QUADROTOR:
        return QStringLiteral(":/json/APM/MavCmdInfoVTOL.json");
        break;
    case MAV_TYPE_SUBMARINE:
        return QStringLiteral(":/json/APM/MavCmdInfoSub.json");
        break;
    case MAV_TYPE_GROUND_ROVER:
        return QStringLiteral(":/json/APM/MavCmdInfoRover.json");
        break;
    default:
        qWarning() << "APMFirmwarePlugin::missionCommandOverrides called with bad MAV_TYPE:" << vehicleType;
        return QString();
    }
731
}
732 733 734 735 736

QObject* APMFirmwarePlugin::loadParameterMetaData(const QString& metaDataFile)
{
    Q_UNUSED(metaDataFile);

Don Gagne's avatar
Don Gagne committed
737 738
    APMParameterMetaData* metaData = new APMParameterMetaData();
    metaData->loadParameterFactMetaDataFile(metaDataFile);
739 740
    return metaData;
}
Don Gagne's avatar
Don Gagne committed
741 742 743 744 745 746

bool APMFirmwarePlugin::isGuidedMode(const Vehicle* vehicle) const
{
    return vehicle->flightMode() == "Guided";
}

Don Gagne's avatar
Don Gagne committed
747 748 749 750 751 752 753 754 755 756 757 758 759 760
void APMFirmwarePlugin::_soloVideoHandshake(Vehicle* vehicle)
{
    Q_UNUSED(vehicle);

    QTcpSocket* socket = new QTcpSocket();

    socket->connectToHost(_artooIP, _artooVideoHandshakePort);
    QObject::connect(socket, static_cast<void (QTcpSocket::*)(QAbstractSocket::SocketError)>(&QTcpSocket::error), this, &APMFirmwarePlugin::_artooSocketError);
}

void APMFirmwarePlugin::_artooSocketError(QAbstractSocket::SocketError socketError)
{
    qgcApp()->showMessage(tr("Error during Solo video link setup: %1").arg(socketError));
}
Don Gagne's avatar
Don Gagne committed
761

762
QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle)
Don Gagne's avatar
Don Gagne committed
763
{
764 765 766
    int majorVersion = vehicle->firmwareMajorVersion();
    int minorVersion = vehicle->firmwareMinorVersion();

Don Gagne's avatar
Don Gagne committed
767 768 769 770 771 772 773
    switch (vehicle->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:
774
        if (majorVersion < 3) {
Don Gagne's avatar
Don Gagne committed
775
            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml");
776 777 778 779 780 781 782 783 784 785 786 787 788
        } else if (majorVersion == 3) {
            switch (minorVersion) {
            case 3:
                return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml");
            case 4:
                return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.4.xml");
            case 5:
                return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.5.xml");
            default:
                if (minorVersion < 3) {
                    return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml");
                }
            }
Don Gagne's avatar
Don Gagne committed
789
        }
790
        return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.5.xml");
DonLakeFlyer's avatar
DonLakeFlyer committed
791 792 793 794 795 796 797
    case MAV_TYPE_VTOL_DUOROTOR:
    case MAV_TYPE_VTOL_QUADROTOR:
    case MAV_TYPE_VTOL_TILTROTOR:
    case MAV_TYPE_VTOL_RESERVED2:
    case MAV_TYPE_VTOL_RESERVED3:
    case MAV_TYPE_VTOL_RESERVED4:
    case MAV_TYPE_VTOL_RESERVED5:
Don Gagne's avatar
Don Gagne committed
798
    case MAV_TYPE_FIXED_WING:
799
        if (majorVersion < 3) {
Don Gagne's avatar
Don Gagne committed
800
            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.3.xml");
801 802 803 804 805 806 807 808 809 810 811 812 813 814 815
        } else if (majorVersion == 3) {
            switch (minorVersion) {
            case 3:
            case 4:
                return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.3.xml");
            case 5:
            case 6:
                return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.5.xml");
            case 7:
                return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.7.xml");
            default:
                if (minorVersion < 3) {
                    return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.3.xml");
                }
            }
Don Gagne's avatar
Don Gagne committed
816
        }
817
        return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.8.xml");
Don Gagne's avatar
Don Gagne committed
818 819
    case MAV_TYPE_GROUND_ROVER:
    case MAV_TYPE_SURFACE_BOAT:
820 821 822 823 824 825 826 827 828 829 830 831
        if (majorVersion < 3) {
            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml");
        } else if (majorVersion == 3) {
            switch (minorVersion) {
            case 0:
            case 1:
                return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml");
            default:
                return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.2.xml");
            }
        }
        return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.2.xml");
832
    case MAV_TYPE_SUBMARINE:
833 834 835 836 837
        if (vehicle->firmwareMajorVersion() < 3 || (vehicle->firmwareMajorVersion() == 3 && vehicle->firmwareMinorVersion() <= 4)) {
            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml");
        } else {
            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.5.xml");
        }
Don Gagne's avatar
Don Gagne committed
838 839 840 841
    default:
        return QString();
    }
}
842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879

void APMFirmwarePlugin::setGuidedMode(Vehicle* vehicle, bool guidedMode)
{
    if (guidedMode) {
        _setFlightModeAndValidate(vehicle, "Guided");
    } else {
        pauseVehicle(vehicle);
    }
}

void APMFirmwarePlugin::pauseVehicle(Vehicle* vehicle)
{
    _setFlightModeAndValidate(vehicle, pauseFlightMode());
}

void APMFirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord)
{
    if (qIsNaN(vehicle->altitudeRelative()->rawValue().toDouble())) {
        qgcApp()->showMessage(QStringLiteral("Unable to go to location, vehicle position not known."));
        return;
    }


    setGuidedMode(vehicle, true);

    QGeoCoordinate coordWithAltitude = gotoCoord;
    coordWithAltitude.setAltitude(vehicle->altitudeRelative()->rawValue().toDouble());
    vehicle->missionManager()->writeArduPilotGuidedMissionItem(coordWithAltitude, false /* altChangeOnly */);
}

void APMFirmwarePlugin::guidedModeRTL(Vehicle* vehicle)
{
    _setFlightModeAndValidate(vehicle, rtlFlightMode());
}

void APMFirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange)
{
    if (qIsNaN(vehicle->altitudeRelative()->rawValue().toDouble())) {
880
        qgcApp()->showMessage(tr("Unable to change altitude, vehicle altitude not known."));
881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907
        return;
    }

    setGuidedMode(vehicle, true);

    mavlink_message_t msg;
    mavlink_set_position_target_local_ned_t cmd;

    memset(&cmd, 0, sizeof(cmd));

    cmd.target_system = vehicle->id();
    cmd.target_component = vehicle->defaultComponentId();
    cmd.coordinate_frame = MAV_FRAME_LOCAL_OFFSET_NED;
    cmd.type_mask = 0xFFF8; // Only x/y/z valid
    cmd.x = 0.0f;
    cmd.y = 0.0f;
    cmd.z = -(altitudeChange);

    MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
    mavlink_msg_set_position_target_local_ned_encode_chan(mavlink->getSystemId(),
                                                          mavlink->getComponentId(),
                                                          vehicle->priorityLink()->mavlinkChannel(),
                                                          &msg,
                                                          &cmd);

    vehicle->sendMessageOnLink(vehicle->priorityLink(), msg);
}
908

909
void APMFirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle, double altitudeRel)
910
{
911
    _guidedModeTakeoff(vehicle, altitudeRel);
912 913
}

914 915
double APMFirmwarePlugin::minimumTakeoffAltitude(Vehicle* vehicle)
{
DonLakeFlyer's avatar
DonLakeFlyer committed
916
    double minTakeoffAlt = 0;
917 918 919 920
    QString takeoffAltParam(vehicle->vtol() ? QStringLiteral("Q_RTL_ALT") : QStringLiteral("PILOT_TKOFF_ALT"));
    float paramDivisor = vehicle->vtol() ? 1.0 : 100.0; // PILOT_TAKEOFF_ALT is in centimeters

    if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, takeoffAltParam)) {
DonLakeFlyer's avatar
DonLakeFlyer committed
921 922 923 924 925
        minTakeoffAlt = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, takeoffAltParam)->rawValue().toDouble() / paramDivisor;
    }

    if (minTakeoffAlt == 0) {
        minTakeoffAlt = FirmwarePlugin::minimumTakeoffAltitude(vehicle);
926
    }
DonLakeFlyer's avatar
DonLakeFlyer committed
927 928

    return minTakeoffAlt;
929 930
}

931
bool APMFirmwarePlugin::_guidedModeTakeoff(Vehicle* vehicle, double altitudeRel)
932
{
DonLakeFlyer's avatar
DonLakeFlyer committed
933 934 935 936 937
    if (!vehicle->multiRotor() && !vehicle->vtol()) {
        qgcApp()->showMessage(tr("Vehicle does not support guided takeoff"));
        return false;
    }

938 939 940 941 942 943
    double vehicleAltitudeAMSL = vehicle->altitudeAMSL()->rawValue().toDouble();
    if (qIsNaN(vehicleAltitudeAMSL)) {
        qgcApp()->showMessage(tr("Unable to takeoff, vehicle position not known."));
        return false;
    }

944
    double takeoffAltRel = minimumTakeoffAltitude(vehicle);
945 946
    if (!qIsNaN(altitudeRel) && altitudeRel > takeoffAltRel) {
        takeoffAltRel = altitudeRel;
947 948 949 950 951 952 953 954 955 956 957 958 959 960 961 962 963
    }

    if (!_setFlightModeAndValidate(vehicle, "Guided")) {
        qgcApp()->showMessage(tr("Unable to takeoff: Vehicle failed to change to Guided mode."));
        return false;
    }

    // FIXME: Is this needed?
    if (!_armVehicleAndValidate(vehicle)) {
        qgcApp()->showMessage(tr("Unable to takeoff: Vehicle failed to arm."));
        return false;
    }

    vehicle->sendMavCommand(vehicle->defaultComponentId(),
                            MAV_CMD_NAV_TAKEOFF,
                            true, // show error
                            0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f,
964
                            takeoffAltRel);                     // Relative altitude
965 966 967 968 969 970 971 972 973 974

    return true;
}

// FIXME: Review for a better way to do this
void APMFirmwarePlugin::startMission(Vehicle* vehicle)
{
    double currentAlt = vehicle->altitudeRelative()->rawValue().toDouble();

    if (!vehicle->flying()) {
975
        if (_guidedModeTakeoff(vehicle, qQNaN())) {
976 977 978 979 980 981 982 983 984 985 986 987 988

            // Wait for vehicle to get off ground before switching to auto (10 seconds)
            bool didTakeoff = false;
            for (int i=0; i<100; i++) {
                if (vehicle->altitudeRelative()->rawValue().toDouble() >= currentAlt + 1.0) {
                    didTakeoff = true;
                    break;
                }
                QGC::SLEEP::msleep(100);
                qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
            }

            if (!didTakeoff) {
989
                qgcApp()->showMessage(tr("Unable to start mission. Vehicle takeoff failed."));
990 991
                return;
            }
DonLakeFlyer's avatar
DonLakeFlyer committed
992 993
        } else {
            return;
994 995 996 997
        }
    }

    if (!_setFlightModeAndValidate(vehicle, missionFlightMode())) {
998
        qgcApp()->showMessage(tr("Unable to start mission. Vehicle failed to change to auto."));
999 1000 1001
        return;
    }
}