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Commit 1f28caf8 authored by Jessica's avatar Jessica
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Added some documentaiton to UAS.

parent c23ac709
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Showing with 295 additions and 6 deletions
src/uas/UAS.cc
View file @ 1f28caf8
......@@ -124,6 +124,11 @@ UAS::~UAS()
delete statusTimeout;
delete simulation;
}
/**
* @ Saves the settings of name, airframe, autopilot type and battery specifications
* for the next instantiation of UAS.
**/
void UAS::writeSettings()
{
QSettings settings;
......@@ -136,6 +141,10 @@ void UAS::writeSettings()
settings.sync();
}
/**
* @ Reads in the settings: name, airframe, autopilot type, and battery specifications
* for the new UAS.
**/
void UAS::readSettings()
{
QSettings settings;
......@@ -150,6 +159,11 @@ void UAS::readSettings()
settings.endGroup();
}
/**
* @ Deletes the settings origianally read into the UAS by readSettings.
* @ This is in case one does not want the old values but would rather
* @ start with the values assigned by the constructor.
**/
void UAS::deleteSettings()
{
this->name = "";
......@@ -158,11 +172,17 @@ void UAS::deleteSettings()
setBatterySpecs(QString("9V,9.5V,12.6V"));
}
/**
* @ return the id of the uas
**/
int UAS::getUASID() const
{
return uasId;
}
/**
* Update whether the uas is alive or not. Updates the heartbeat.
**/
void UAS::updateState()
{
// Check if heartbeat timed out
......@@ -188,6 +208,9 @@ void UAS::updateState()
}
}
/**
* @ Selet a uas.
**/
void UAS::setSelected()
{
if (UASManager::instance()->getActiveUAS() != this)
......@@ -197,11 +220,19 @@ void UAS::setSelected()
}
}
/**
* @ return if the active uas is the current uas
**/
bool UAS::getSelected() const
{
return (UASManager::instance()->getActiveUAS() == this);
}
/**
* @param link The link interface
* @param The message ????
* @ Receives a message.
**/
void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
if (!link) return;
......@@ -1132,6 +1163,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
}
/**
* @param link
* @param message
* @ Receive an extended message.
**/
#if defined(QGC_PROTOBUF_ENABLED)
void UAS::receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<google::protobuf::Message> message)
{
......@@ -1225,6 +1261,12 @@ void UAS::receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<googl
#endif
/**
* @param lat The latitude fo the home position
* @param lon The longitute of the home position
* @param alt The altitude of the home position
* @ SEt a new home position for the uas.
**/
void UAS::setHomePosition(double lat, double lon, double alt)
{
QMessageBox msgBox;
......@@ -1258,6 +1300,9 @@ void UAS::setHomePosition(double lat, double lon, double alt)
}
}
/**
* @ Set the origin to the current GPS location.
**/
void UAS::setLocalOriginAtCurrentGPSPosition()
{
QMessageBox msgBox;
......@@ -1281,6 +1326,12 @@ void UAS::setLocalOriginAtCurrentGPSPosition()
}
}
/**
* @param x postion
* @param y position
* @param z position
* @ Set a local position setpoint.
**/
void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw)
{
#ifdef MAVLINK_ENABLED_PIXHAWK
......@@ -1295,6 +1346,13 @@ void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw)
#endif
}
/**
* @param x position
* @param y position
* @param z position
* @param yaw
* @Set a offset of the local position by sending a message.
**/
void UAS::setLocalPositionOffset(float x, float y, float z, float yaw)
{
#ifdef MAVLINK_ENABLED_PIXHAWK
......@@ -1309,6 +1367,9 @@ void UAS::setLocalPositionOffset(float x, float y, float z, float yaw)
#endif
}
/**
* @ Start Radio Calibration by sending a message to the mav to start calibrating.
**/
void UAS::startRadioControlCalibration()
{
mavlink_message_t msg;
......@@ -1317,6 +1378,9 @@ void UAS::startRadioControlCalibration()
sendMessage(msg);
}
/**
* @ Start data recording by sending a mavlink message.
**/
void UAS::startDataRecording()
{
mavlink_message_t msg;
......@@ -1324,6 +1388,9 @@ void UAS::startDataRecording()
sendMessage(msg);
}
/**
* @Stop data recording.
**/
void UAS::stopDataRecording()
{
mavlink_message_t msg;
......@@ -1331,6 +1398,9 @@ void UAS::stopDataRecording()
sendMessage(msg);
}
/**
* @Start magnetometer calibration. ??look up magnetometer??
**/
void UAS::startMagnetometerCalibration()
{
mavlink_message_t msg;
......@@ -1339,6 +1409,9 @@ void UAS::startMagnetometerCalibration()
sendMessage(msg);
}
/**
* @ Start gyroscope calibration. ???look up what a gyroscope is.
**/
void UAS::startGyroscopeCalibration()
{
mavlink_message_t msg;
......@@ -1347,6 +1420,9 @@ void UAS::startGyroscopeCalibration()
sendMessage(msg);
}
/**
* @ Start pressure calibration by sending the mav a message.
**/
void UAS::startPressureCalibration()
{
mavlink_message_t msg;
......@@ -1355,6 +1431,11 @@ void UAS::startPressureCalibration()
sendMessage(msg);
}
/**
* @param quint64 time
* @ Get unix reference time.??To what end??
**/
quint64 UAS::getUnixReferenceTime(quint64 time)
{
// Same as getUnixTime, but does not react to attitudeStamped mode
......@@ -1470,6 +1551,10 @@ quint64 UAS::getUnixTime(quint64 time)
return ret;
}
/**
* @param component that could be in the map?
* @ Get parameter names.
**/
QList<QString> UAS::getParameterNames(int component)
{
if (parameters.contains(component))
......@@ -1482,11 +1567,18 @@ QList<QString> UAS::getParameterNames(int component)
}
}
/**
* @ Get componenet ids.
**/
QList<int> UAS::getComponentIds()
{
return parameters.keys();
}
/**
* @ Set the mode
* @param mode that uas is to be set to.
**/
void UAS::setMode(int mode)
{
//this->mode = mode; //no call assignament, update receive message from UAS
......@@ -1496,6 +1588,10 @@ void UAS::setMode(int mode)
qDebug() << "SENDING REQUEST TO SET MODE TO SYSTEM" << uasId << ", REQUEST TO SET MODE " << (uint8_t)mode;
}
/**
* @param message that is to be sent
* @Send a message to the mav.
**/
void UAS::sendMessage(mavlink_message_t message)
{
// Emit message on all links that are currently connected
......@@ -1515,6 +1611,10 @@ void UAS::sendMessage(mavlink_message_t message)
}
}
/**
* @param message that is to be forwarded
* @Forward a message to all links that are currently connected.
**/
void UAS::forwardMessage(mavlink_message_t message)
{
// Emit message on all links that are currently connected
......@@ -1540,6 +1640,11 @@ void UAS::forwardMessage(mavlink_message_t message)
}
}
/**
* @param link that the message will be sent to
* @message that is to be sent
* @Send a message to the link that is connected.
**/
void UAS::sendMessage(LinkInterface* link, mavlink_message_t message)
{
if(!link) return;
......@@ -1565,6 +1670,11 @@ float UAS::filterVoltage(float value) const
return lpVoltage * 0.7f + value * 0.3f;
}
/**
* @param mode
* @Return the modeo fo the autopilot
* @The mode can be preflight or unknown.
**/
QString UAS::getNavModeText(int mode)
{
if (autopilot == MAV_AUTOPILOT_PIXHAWK)
......@@ -1590,6 +1700,14 @@ QString UAS::getNavModeText(int mode)
return QString("UNKNOWN");
}
/**
* @oaram statusCode
* @param uasState
* @param stateDescription
* @Get the status of the code and a descriptor of the code.
* @Status can be unitialized, booting up, calibrating sensors, active
* @standby, cirtical, emergency, shutdown or unknown.
**/
void UAS::getStatusForCode(int statusCode, QString& uasState, QString& stateDescription)
{
switch (statusCode)
......@@ -1639,6 +1757,10 @@ void UAS::getStatusForCode(int statusCode, QString& uasState, QString& stateDesc
}
}
/**
* @ Get the image ??of what??
* @return a image
**/
QImage UAS::getImage()
{
#ifdef MAVLINK_ENABLED_PIXHAWK
......@@ -1695,6 +1817,9 @@ QImage UAS::getImage()
}
/**
* @Request an image.
**/
void UAS::requestImage()
{
#ifdef MAVLINK_ENABLED_PIXHAWK
......@@ -1730,11 +1855,17 @@ quint64 UAS::getUptime() const
}
}
/**
* @return communication status
**/
int UAS::getCommunicationStatus() const
{
return commStatus;
}
/**
* @Request list of parameters by sending a message.
**/
void UAS::requestParameters()
{
mavlink_message_t msg;
......@@ -1743,6 +1874,9 @@ void UAS::requestParameters()
qDebug() << __FILE__ << __LINE__ << "LOADING PARAM LIST";
}
/**
* @Write the parameters to storage.
**/
void UAS::writeParametersToStorage()
{
mavlink_message_t msg;
......@@ -1751,6 +1885,9 @@ void UAS::writeParametersToStorage()
sendMessage(msg);
}
/**
* @ Read parameters from storage.
**/
void UAS::readParametersFromStorage()
{
mavlink_message_t msg;
......@@ -1758,6 +1895,10 @@ void UAS::readParametersFromStorage()
sendMessage(msg);
}
/**
* @param rate
* @Enable all types of data to be transmitted.
**/
void UAS::enableAllDataTransmission(int rate)
{
// Buffers to write data to
......@@ -1783,6 +1924,10 @@ void UAS::enableAllDataTransmission(int rate)
sendMessage(msg);
}
/**
* @param rate
* @Enable raw sensor data to be transmitted.
**/
void UAS::enableRawSensorDataTransmission(int rate)
{
// Buffers to write data to
......@@ -1804,6 +1949,10 @@ void UAS::enableRawSensorDataTransmission(int rate)
sendMessage(msg);
}
/**
* @param rate
* @Enable extended system status to be transmitted.
**/
void UAS::enableExtendedSystemStatusTransmission(int rate)
{
// Buffers to write data to
......@@ -1825,6 +1974,10 @@ void UAS::enableExtendedSystemStatusTransmission(int rate)
sendMessage(msg);
}
/**
* @param rate
* @Enable RCC channel data to be transmitted.
**/
void UAS::enableRCChannelDataTransmission(int rate)
{
#if defined(MAVLINK_ENABLED_UALBERTA_MESSAGES)
......@@ -1851,6 +2004,10 @@ void UAS::enableRCChannelDataTransmission(int rate)
#endif
}
/**
* @param rate
* @Enalbe raw controller data to be transmitted.
**/
void UAS::enableRawControllerDataTransmission(int rate)
{
// Buffers to write data to
......@@ -1894,6 +2051,10 @@ void UAS::enableRawControllerDataTransmission(int rate)
// sendMessage(msg);
//}
/**
* @param rate
* @Enable postion to be transmitted.
**/
void UAS::enablePositionTransmission(int rate)
{
// Buffers to write data to
......@@ -1915,6 +2076,10 @@ void UAS::enablePositionTransmission(int rate)
sendMessage(msg);
}
/**
* @param rate
* @ Enable extra1 to be transmitted.
**/
void UAS::enableExtra1Transmission(int rate)
{
// Buffers to write data to
......@@ -1937,6 +2102,10 @@ void UAS::enableExtra1Transmission(int rate)
sendMessage(msg);
}
/**
* @param rate
* @Enable extra 2 to be transmitted.
**/
void UAS::enableExtra2Transmission(int rate)
{
// Buffers to write data to
......@@ -1959,6 +2128,10 @@ void UAS::enableExtra2Transmission(int rate)
sendMessage(msg);
}
/**
* @param rate
* @Enable extra 2 to be transmitted.
**/
void UAS::enableExtra3Transmission(int rate)
{
// Buffers to write data to
......@@ -2046,6 +2219,11 @@ void UAS::setParameter(const int component, const QString& id, const QVariant& v
}
}
/**
* @param component
* @param id
* @Request a prameter. How is this different??
**/
void UAS::requestParameter(int component, int id)
{
// Request parameter, use parameter name to request it
......@@ -2060,6 +2238,11 @@ void UAS::requestParameter(int component, int id)
qDebug() << __FILE__ << __LINE__ << "REQUESTING PARAM RETRANSMISSION FROM COMPONENT" << component << "FOR PARAM ID" << id;
}
/**
* @param component
* @QString parameter
* @Request a parameter
**/
void UAS::requestParameter(int component, const QString& parameter)
{
// Request parameter, use parameter name to request it
......@@ -2080,6 +2263,10 @@ void UAS::requestParameter(int component, const QString& parameter)
qDebug() << __FILE__ << __LINE__ << "REQUESTING PARAM RETRANSMISSION FROM COMPONENT" << component << "FOR PARAM NAME" << parameter;
}
/**
* @param systemType
* @Set the system type.
**/
void UAS::setSystemType(int systemType)
{
if((systemType >= MAV_TYPE_GENERIC) && (systemType < MAV_TYPE_ENUM_END))
......@@ -2103,6 +2290,10 @@ void UAS::setSystemType(int systemType)
}
}
/**
* @param name
* @Set the name of the UAS.
**/
void UAS::setUASName(const QString& name)
{
if (name != "")
......@@ -2114,6 +2305,10 @@ void UAS::setUASName(const QString& name)
}
}
/**
* @param command
* @Execute a command.
**/
void UAS::executeCommand(MAV_CMD command)
{
mavlink_message_t msg;
......@@ -2133,6 +2328,19 @@ void UAS::executeCommand(MAV_CMD command)
sendMessage(msg);
}
/**
* @param command
* @param confirmation
* @param param1
* @param param2
* @param param3
* @param param4
* @param param5
* @param param6
* @param param7
* @param component
* @Execute a command
**/
void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component)
{
mavlink_message_t msg;
......@@ -2185,6 +2393,13 @@ void UAS::disarmSystem()
sendMessage(msg);
}
/**
* @param roll
* @param pitch
* @param yaw
* @param thrust
* @Set the manual control commands.
**/
void UAS::setManualControlCommands(double roll, double pitch, double yaw, double thrust)
{
// Scale values
......@@ -2213,11 +2428,18 @@ void UAS::setManualControlCommands(double roll, double pitch, double yaw, double
}
}
/**
* @return the type of the system
**/
int UAS::getSystemType()
{
return this->type;
}
/**
* @param buttonIndex
* @Receive a button being pushed???
**/
void UAS::receiveButton(int buttonIndex)
{
switch (buttonIndex)
......@@ -2236,7 +2458,9 @@ void UAS::receiveButton(int buttonIndex)
}
/**
* @Halt the uas.
**/
void UAS::halt()
{
mavlink_message_t msg;
......@@ -2244,6 +2468,9 @@ void UAS::halt()
sendMessage(msg);
}
/**
* @Make the uas go.
**/
void UAS::go()
{
mavlink_message_t msg;
......@@ -2321,6 +2548,10 @@ bool UAS::emergencyKILL()
return false;
}
/**
* @param enable
* @ Connect the fligth gear link. Enable hardware in the loop??
**/
void UAS::enableHil(bool enable)
{
// Connect Flight Gear Link
......@@ -2361,7 +2592,9 @@ void UAS::sendHilState(uint64_t time_us, float roll, float pitch, float yaw, flo
sendMessage(msg);
}
/**
* @Start hardware in the loop.
**/
void UAS::startHil()
{
// Connect Flight Gear Link
......@@ -2371,6 +2604,9 @@ void UAS::startHil()
sendMessage(msg);
}
/**
* @ Stop hardware in the loop??
**/
void UAS::stopHil()
{
simulation->disconnectSimulation();
......@@ -2379,7 +2615,9 @@ void UAS::stopHil()
sendMessage(msg);
}
/**
* @Shutdown the uas.
**/
void UAS::shutdown()
{
bool result = false;
......@@ -2405,6 +2643,13 @@ void UAS::shutdown()
}
}
/**
* @param x
* @param y
* @param z
* @param yaw
* @Set the target position at (x,y,z) at yaw.
**/
void UAS::setTargetPosition(float x, float y, float z, float yaw)
{
mavlink_message_t msg;
......@@ -2429,11 +2674,18 @@ QString UAS::getUASName(void) const
return result;
}
/**
* @return the state of the uas as a short text.
**/
const QString& UAS::getShortState() const
{
return shortStateText;
}
/**
* @param id
* @return the audio mode text for the id given.
**/
QString UAS::getAudioModeTextFor(int id)
{
QString mode;
......@@ -2473,6 +2725,10 @@ QString UAS::getAudioModeTextFor(int id)
return mode;
}
/**
* @param id
* @return the short text of the mode for the id given.
**/
QString UAS::getShortModeTextFor(int id)
{
QString mode;
......@@ -2529,11 +2785,17 @@ QString UAS::getShortModeTextFor(int id)
return mode;
}
/**
* @return the short mode.
**/
const QString& UAS::getShortMode() const
{
return shortModeText;
}
/**
* @add the link
**/
void UAS::addLink(LinkInterface* link)
{
if (!links->contains(link))
......@@ -2543,6 +2805,10 @@ void UAS::addLink(LinkInterface* link)
}
}
/**
* @param object
* @remove a link
**/
void UAS::removeLink(QObject* object)
{
LinkInterface* link = dynamic_cast<LinkInterface*>(object);
......@@ -2552,19 +2818,27 @@ void UAS::removeLink(QObject* object)
}
}
/**
* @return the list of links
**/
QList<LinkInterface*>* UAS::getLinks()
{
return links;
}
/**
* @rerturn the map of the components
**/
QMap<int, QString> UAS::getComponents()
{
return components;
}
/**
* @param type of the battery
* @param cells Number of cells??
* @Set the battery type and the number of cells.
**/
void UAS::setBattery(BatteryType type, int cells)
{
this->batteryType = type;
......@@ -2588,6 +2862,9 @@ void UAS::setBattery(BatteryType type, int cells)
}
}
/**
* @param specs of the battery
**/
void UAS::setBatterySpecs(const QString& specs)
{
if (specs.length() == 0 || specs.contains("%"))
......@@ -2634,6 +2911,9 @@ void UAS::setBatterySpecs(const QString& specs)
}
}
/**
* @return the battery specifications as a string.
**/
QString UAS::getBatterySpecs()
{
if (batteryRemainingEstimateEnabled)
......@@ -2646,6 +2926,9 @@ QString UAS::getBatterySpecs()
}
}
/**
* @return the time remaining.
**/
int UAS::calculateTimeRemaining()
{
quint64 dt = QGC::groundTimeMilliseconds() - startTime;
......@@ -2682,6 +2965,9 @@ float UAS::getChargeLevel()
return chargeLevel;
}
/**
* @start the low battery alarm
**/
void UAS::startLowBattAlarm()
{
if (!lowBattAlarm)
......@@ -2692,6 +2978,9 @@ void UAS::startLowBattAlarm()
}
}
/**
* @stop the battery alarm.
**/
void UAS::stopLowBattAlarm()
{
if (lowBattAlarm)
......
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