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
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
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
/****************************************************************************
*
* (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 APMAutoPilotPlugin_H
#define APMAutoPilotPlugin_H
#include "AutoPilotPlugin.h"
#include "Vehicle.h"
class APMAirframeComponent;
class APMAirframeLoader;
class APMFlightModesComponent;
class APMRadioComponent;
class APMTuningComponent;
class APMSafetyComponent;
class APMSensorsComponent;
class APMPowerComponent;
class MotorComponent;
class APMCameraComponent;
class APMLightsComponent;
class APMSubFrameComponent;
class ESP8266Component;
/// This is the APM specific implementation of the AutoPilot class.
class APMAutoPilotPlugin : public AutoPilotPlugin
{
Q_OBJECT
public:
APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent);
~APMAutoPilotPlugin();
// Overrides from AutoPilotPlugin
const QVariantList& vehicleComponents(void) final;
APMAirframeComponent* airframeComponent (void) const { return _airframeComponent; }
APMCameraComponent* cameraComponent (void) const { return _cameraComponent; }
APMLightsComponent* lightsComponent (void) const { return _lightsComponent; }
APMSubFrameComponent* subFrameComponent (void) const { return _subFrameComponent; }
APMFlightModesComponent* flightModesComponent(void) const { return _flightModesComponent; }
APMPowerComponent* powerComponent (void) const { return _powerComponent; }
#if 0
// Temporarily removed, waiting for new command implementation
MotorComponent* motorComponent (void) const { return _motorComponent; }
#endif
APMRadioComponent* radioComponent (void) const { return _radioComponent; }
APMSafetyComponent* safetyComponent (void) const { return _safetyComponent; }
APMSensorsComponent* sensorsComponent (void) const { return _sensorsComponent; }
APMTuningComponent* tuningComponent (void) const { return _tuningComponent; }
ESP8266Component* esp8266Component (void) const { return _esp8266Component; }
private:
bool _incorrectParameterVersion; ///< true: parameter version incorrect, setup not allowed
QVariantList _components;
APMAirframeComponent* _airframeComponent;
APMCameraComponent* _cameraComponent;
APMLightsComponent* _lightsComponent;
APMSubFrameComponent* _subFrameComponent;
APMFlightModesComponent* _flightModesComponent;
APMPowerComponent* _powerComponent;
#if 0
// Temporarily removed, waiting for new command implementation
MotorComponent* _motorComponent;
#endif
APMRadioComponent* _radioComponent;
APMSafetyComponent* _safetyComponent;
APMSensorsComponent* _sensorsComponent;
APMTuningComponent* _tuningComponent;
APMAirframeLoader* _airframeFacts;
ESP8266Component* _esp8266Component;
};
#endif