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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2015 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/>.
======================================================================*/
#include "FirmwarePlugin.h"
#include <QDebug>
QList<VehicleComponent*> FirmwarePlugin::componentsForVehicle(AutoPilotPlugin* vehicle)
{
Q_UNUSED(vehicle);
return QList<VehicleComponent*>();
}
QString FirmwarePlugin::flightMode(uint8_t base_mode, uint32_t custom_mode)
{
QString flightMode;
struct Bit2Name {
uint8_t baseModeBit;
const char* name;
};
static const struct Bit2Name rgBit2Name[] = {
{ MAV_MODE_FLAG_MANUAL_INPUT_ENABLED, "Manual" },
{ MAV_MODE_FLAG_STABILIZE_ENABLED, "Stabilize" },
{ MAV_MODE_FLAG_GUIDED_ENABLED, "Guided" },
{ MAV_MODE_FLAG_AUTO_ENABLED, "Auto" },
{ MAV_MODE_FLAG_TEST_ENABLED, "Test" },
};
Q_UNUSED(custom_mode);
if (base_mode == 0) {
flightMode = "PreFlight";
} else if (base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
flightMode = QString("Custom:0x%1").arg(custom_mode, 0, 16);
} else {
for (size_t i=0; i<sizeof(rgBit2Name)/sizeof(rgBit2Name[0]); i++) {
if (base_mode & rgBit2Name[i].baseModeBit) {
if (i != 0) {
flightMode += " ";
}
flightMode += rgBit2Name[i].name;
}
}
}
return flightMode;
}
bool FirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode)
{
Q_UNUSED(flightMode);
Q_UNUSED(base_mode);
Q_UNUSED(custom_mode);
qWarning() << "FirmwarePlugin::setFlightMode called on base class, not supported";
return false;
}
int FirmwarePlugin::manualControlReservedButtonCount(void)
{
// We don't know whether the firmware is going to used any of these buttons.
// So reserve them all.
return -1;
}
void FirmwarePlugin::adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message)
{
Q_UNUSED(vehicle);
Q_UNUSED(message);
// Generic plugin does no message adjustment
}
void FirmwarePlugin::initializeVehicle(Vehicle* vehicle)
{
Q_UNUSED(vehicle);
// Generic Flight Stack is by definition "generic", so no extra work
}
bool FirmwarePlugin::sendHomePositionToVehicle(void)
{
// Generic stack does not want home position sent in the first position.
// Subsequent sequence numbers must be adjusted.
// This is the mavlink spec default.
return false;
}
QList<MAV_CMD> FirmwarePlugin::supportedMissionCommands(void)
{
// Generic supports all commands
return QList<MAV_CMD>();
}
void FirmwarePlugin::missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const
{
// No overrides
commonJsonFilename.clear();
fixedWingJsonFilename.clear();
multiRotorJsonFilename.clear();
}
void FirmwarePlugin::getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion)
{
Q_UNUSED(metaDataFile);
majorVersion = -1;
minorVersion = -1;
}