diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc index e3688fa631e35f672be4d655e5486d1def93d729..558e761ebfbb1fb4fec86a02d5a14d6bc19a8021 100644 --- a/src/Vehicle/Vehicle.cc +++ b/src/Vehicle/Vehicle.cc @@ -432,7 +432,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType, _firmwarePlugin->initializeVehicle(this); } -void Vehicle::_commonInit(void) +void Vehicle::_commonInit() { _firmwarePlugin = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType); @@ -599,7 +599,7 @@ void Vehicle::_offlineHoverSpeedSettingChanged(QVariant value) emit defaultHoverSpeedChanged(_defaultHoverSpeed); } -QString Vehicle::firmwareTypeString(void) const +QString Vehicle::firmwareTypeString() const { if (px4Firmware()) { return QStringLiteral("PX4 Pro"); @@ -610,7 +610,7 @@ QString Vehicle::firmwareTypeString(void) const } } -QString Vehicle::vehicleTypeString(void) const +QString Vehicle::vehicleTypeString() const { if (fixedWing()) { return tr("Fixed Wing"); @@ -892,7 +892,7 @@ void Vehicle::_handleOrbitExecutionStatus(const mavlink_message_t& message) _orbitTelemetryTimer.start(_orbitTelemetryTimeoutMsecs); } -void Vehicle::_orbitTelemetryTimeout(void) +void Vehicle::_orbitTelemetryTimeout() { _orbitActive = false; emit orbitActiveChanged(false); @@ -1524,7 +1524,7 @@ void Vehicle::_handleWind(mavlink_message_t& message) } #endif -bool Vehicle::_apmArmingNotRequired(void) +bool Vehicle::_apmArmingNotRequired() { QString armingRequireParam("ARMING_REQUIRE"); return _parameterManager->parameterExists(FactSystem::defaultComponentId, armingRequireParam) && @@ -1546,7 +1546,7 @@ void Vehicle::_handleSysStatus(mavlink_message_t& message) _battery1FactGroup.voltage()->setRawValue(VehicleBatteryFactGroup::_voltageUnavailable); } else { _battery1FactGroup.voltage()->setRawValue((double)sysStatus.voltage_battery / 1000.0); - // current_battery is 10 mA and voltage_battery is 1mV. (10/1e3 times 1/1e3 = 1/1e5) + // current_battery is 10 mA and voltage_battery is 1mV. (10/1e3 times 1/1e3 = 1/1e5) _battery1FactGroup.instantPower()->setRawValue((float)(sysStatus.current_battery*sysStatus.voltage_battery)/(100000.0)); } _battery1FactGroup.percentRemaining()->setRawValue(sysStatus.battery_remaining); @@ -1601,7 +1601,7 @@ void Vehicle::_handleBatteryStatus(mavlink_message_t& message) if (bat_status.temperature == INT16_MAX) { batteryFactGroup.temperature()->setRawValue(VehicleBatteryFactGroup::_temperatureUnavailable); } else { - batteryFactGroup.temperature()->setRawValue((double)bat_status.temperature / 100.0); + batteryFactGroup.temperature()->setRawValue(static_cast(bat_status.temperature)/100.0); } if (bat_status.current_consumed == -1) { batteryFactGroup.mahConsumed()->setRawValue(VehicleBatteryFactGroup::_mahConsumedUnavailable); @@ -1731,7 +1731,7 @@ void Vehicle::_handleHeartbeat(mavlink_message_t& message) // bad modes while unit testing. previousFlightMode = flightMode(); } - _base_mode = heartbeat.base_mode; + _base_mode = heartbeat.base_mode; _custom_mode = heartbeat.custom_mode; if (previousFlightMode != flightMode()) { emit flightModeChanged(flightMode()); @@ -2080,7 +2080,7 @@ void Vehicle::_updatePriorityLink(bool updateActive, bool sendCommand) } } -int Vehicle::motorCount(void) +int Vehicle::motorCount() { switch (_vehicleType) { case MAV_TYPE_HELICOPTER: @@ -2142,12 +2142,12 @@ int Vehicle::motorCount(void) } } -bool Vehicle::coaxialMotors(void) +bool Vehicle::coaxialMotors() { return _firmwarePlugin->multiRotorCoaxialMotors(this); } -bool Vehicle::xConfigMotors(void) +bool Vehicle::xConfigMotors() { return _firmwarePlugin->multiRotorXConfig(this); } @@ -2258,7 +2258,7 @@ void Vehicle::resetMessages() } } -void Vehicle::_loadSettings(void) +void Vehicle::_loadSettings() { if (!_active) { return; @@ -2277,7 +2277,7 @@ void Vehicle::_loadSettings(void) } } -void Vehicle::_saveSettings(void) +void Vehicle::_saveSettings() { QSettings settings; @@ -2292,7 +2292,7 @@ void Vehicle::_saveSettings(void) } } -int Vehicle::joystickMode(void) +int Vehicle::joystickMode() { return _joystickMode; } @@ -2309,7 +2309,7 @@ void Vehicle::setJoystickMode(int mode) emit joystickModeChanged(mode); } -QStringList Vehicle::joystickModes(void) +QStringList Vehicle::joystickModes() { QStringList list; @@ -2318,7 +2318,7 @@ QStringList Vehicle::joystickModes(void) return list; } -bool Vehicle::joystickEnabled(void) +bool Vehicle::joystickEnabled() { return _joystickEnabled; } @@ -2343,7 +2343,7 @@ void Vehicle::_startJoystick(bool start) } } -bool Vehicle::active(void) +bool Vehicle::active() { return _active; } @@ -2357,7 +2357,7 @@ void Vehicle::setActive(bool active) } } -QGeoCoordinate Vehicle::homePosition(void) +QGeoCoordinate Vehicle::homePosition() { return _homePosition; } @@ -2371,22 +2371,22 @@ void Vehicle::setArmed(bool armed) armed ? 1.0f : 0.0f); } -bool Vehicle::flightModeSetAvailable(void) +bool Vehicle::flightModeSetAvailable() { return _firmwarePlugin->isCapable(this, FirmwarePlugin::SetFlightModeCapability); } -QStringList Vehicle::flightModes(void) +QStringList Vehicle::flightModes() { return _firmwarePlugin->flightModes(this); } -QStringList Vehicle::extraJoystickFlightModes(void) +QStringList Vehicle::extraJoystickFlightModes() { return _firmwarePlugin->extraJoystickFlightModes(this); } -QString Vehicle::flightMode(void) const +QString Vehicle::flightMode() const { return _firmwarePlugin->flightMode(_base_mode, _custom_mode); } @@ -2416,7 +2416,7 @@ void Vehicle::setFlightMode(const QString& flightMode) } } -QString Vehicle::priorityLinkName(void) const +QString Vehicle::priorityLinkName() const { if (_priorityLink) { return _priorityLink->getName(); @@ -2425,7 +2425,7 @@ QString Vehicle::priorityLinkName(void) const return "none"; } -QVariantList Vehicle::links(void) const { +QVariantList Vehicle::links() const { QVariantList ret; for( const auto &item: _links ) @@ -2463,7 +2463,7 @@ void Vehicle::setPriorityLinkByName(const QString& priorityLinkName) } } -bool Vehicle::hilMode(void) +bool Vehicle::hilMode() { return _base_mode & MAV_MODE_FLAG_HIL_ENABLED; } @@ -2514,7 +2514,7 @@ void Vehicle::requestDataStream(MAV_DATA_STREAM stream, uint16_t rate, bool send } } -void Vehicle::_sendMessageMultipleNext(void) +void Vehicle::_sendMessageMultipleNext() { if (_nextSendMessageMultipleIndex < _sendMessageMultipleList.count()) { qCDebug(VehicleLog) << "_sendMessageMultipleNext:" << _sendMessageMultipleList[_nextSendMessageMultipleIndex].message.msgid; @@ -2561,12 +2561,12 @@ void Vehicle::_rallyPointManagerError(int errorCode, const QString& errorMsg) qgcApp()->showMessage(tr("Rally Point transfer failed. Retry transfer. Error: %1").arg(errorMsg)); } -void Vehicle::_clearCameraTriggerPoints(void) +void Vehicle::_clearCameraTriggerPoints() { _cameraTriggerPoints.clearAndDeleteContents(); } -void Vehicle::_flightTimerStart(void) +void Vehicle::_flightTimerStart() { _flightTimer.start(); _flightTimeUpdater.start(); @@ -2574,17 +2574,17 @@ void Vehicle::_flightTimerStart(void) _flightTimeFact.setRawValue(0); } -void Vehicle::_flightTimerStop(void) +void Vehicle::_flightTimerStop() { _flightTimeUpdater.stop(); } -void Vehicle::_updateFlightTime(void) +void Vehicle::_updateFlightTime() { _flightTimeFact.setRawValue((double)_flightTimer.elapsed() / 1000.0); } -void Vehicle::_startPlanRequest(void) +void Vehicle::_startPlanRequest() { if (_missionManagerInitialRequestSent) { // We have already started (or possibly completed) the sequence of requesting the plan for the first time @@ -2622,7 +2622,7 @@ void Vehicle::_startPlanRequest(void) } } -void Vehicle::_missionLoadComplete(void) +void Vehicle::_missionLoadComplete() { // After the initial mission request completes we ask for the geofence if (!_geoFenceManagerInitialRequestSent) { @@ -2637,7 +2637,7 @@ void Vehicle::_missionLoadComplete(void) } } -void Vehicle::_geoFenceLoadComplete(void) +void Vehicle::_geoFenceLoadComplete() { // After geofence request completes we ask for the rally points if (!_rallyPointManagerInitialRequestSent) { @@ -2652,7 +2652,7 @@ void Vehicle::_geoFenceLoadComplete(void) } } -void Vehicle::_rallyPointLoadComplete(void) +void Vehicle::_rallyPointLoadComplete() { qCDebug(VehicleLog) << "_missionLoadComplete _initialPlanRequestComplete = true"; if (!_initialPlanRequestComplete) { @@ -2674,7 +2674,7 @@ void Vehicle::_parametersReady(bool parametersReady) } } -void Vehicle::_sendQGCTimeToVehicle(void) +void Vehicle::_sendQGCTimeToVehicle() { mavlink_message_t msg; mavlink_system_time_t cmd; @@ -2692,7 +2692,7 @@ void Vehicle::_sendQGCTimeToVehicle(void) sendMessageOnLink(priorityLink(), msg); } -void Vehicle::disconnectInactiveVehicle(void) +void Vehicle::disconnectInactiveVehicle() { // Vehicle is no longer communicating with us, disconnect all links @@ -2849,57 +2849,57 @@ void Vehicle::_say(const QString& text) _toolbox->audioOutput()->say(text.toLower()); } -bool Vehicle::fixedWing(void) const +bool Vehicle::fixedWing() const { return QGCMAVLink::isFixedWing(vehicleType()); } -bool Vehicle::rover(void) const +bool Vehicle::rover() const { return QGCMAVLink::isRover(vehicleType()); } -bool Vehicle::sub(void) const +bool Vehicle::sub() const { return QGCMAVLink::isSub(vehicleType()); } -bool Vehicle::multiRotor(void) const +bool Vehicle::multiRotor() const { return QGCMAVLink::isMultiRotor(vehicleType()); } -bool Vehicle::vtol(void) const +bool Vehicle::vtol() const { return _firmwarePlugin->isVtol(this); } -bool Vehicle::supportsThrottleModeCenterZero(void) const +bool Vehicle::supportsThrottleModeCenterZero() const { return _firmwarePlugin->supportsThrottleModeCenterZero(); } -bool Vehicle::supportsNegativeThrust(void) +bool Vehicle::supportsNegativeThrust() { return _firmwarePlugin->supportsNegativeThrust(this); } -bool Vehicle::supportsRadio(void) const +bool Vehicle::supportsRadio() const { return _firmwarePlugin->supportsRadio(); } -bool Vehicle::supportsJSButton(void) const +bool Vehicle::supportsJSButton() const { return _firmwarePlugin->supportsJSButton(); } -bool Vehicle::supportsMotorInterference(void) const +bool Vehicle::supportsMotorInterference() const { return _firmwarePlugin->supportsMotorInterference(); } -bool Vehicle::supportsTerrainFrame(void) const +bool Vehicle::supportsTerrainFrame() const { return _firmwarePlugin->supportsTerrainFrame(); } @@ -2939,7 +2939,7 @@ QString Vehicle::vehicleTypeName() const { } /// Returns the string to speak to identify the vehicle -QString Vehicle::_vehicleIdSpeech(void) +QString Vehicle::_vehicleIdSpeech() { if (_toolbox->multiVehicleManager()->vehicles()->count() > 1) { return tr("vehicle %1").arg(id()); @@ -2980,12 +2980,12 @@ void Vehicle::_setLanding(bool landing) } } -bool Vehicle::guidedModeSupported(void) const +bool Vehicle::guidedModeSupported() const { return _firmwarePlugin->isCapable(this, FirmwarePlugin::GuidedModeCapability); } -bool Vehicle::pauseVehicleSupported(void) const +bool Vehicle::pauseVehicleSupported() const { return _firmwarePlugin->isCapable(this, FirmwarePlugin::PauseVehicleCapability); } @@ -3019,7 +3019,7 @@ void Vehicle::guidedModeRTL(bool smartRTL) _firmwarePlugin->guidedModeRTL(this, smartRTL); } -void Vehicle::guidedModeLand(void) +void Vehicle::guidedModeLand() { if (!guidedModeSupported()) { qgcApp()->showMessage(guided_mode_not_supported_by_vehicle); @@ -3037,12 +3037,12 @@ void Vehicle::guidedModeTakeoff(double altitudeRelative) _firmwarePlugin->guidedModeTakeoff(this, altitudeRelative); } -double Vehicle::minimumTakeoffAltitude(void) +double Vehicle::minimumTakeoffAltitude() { return _firmwarePlugin->minimumTakeoffAltitude(this); } -void Vehicle::startMission(void) +void Vehicle::startMission() { _firmwarePlugin->startMission(this); } @@ -3173,7 +3173,7 @@ void Vehicle::stopGuidedModeROI() } } -void Vehicle::pauseVehicle(void) +void Vehicle::pauseVehicle() { if (!pauseVehicleSupported()) { qgcApp()->showMessage(QStringLiteral("Pause not supported by vehicle.")); @@ -3191,7 +3191,7 @@ void Vehicle::abortLanding(double climbOutAltitude) static_cast(climbOutAltitude)); } -bool Vehicle::guidedMode(void) const +bool Vehicle::guidedMode() const { return _firmwarePlugin->isGuidedMode(this); } @@ -3201,7 +3201,7 @@ void Vehicle::setGuidedMode(bool guidedMode) return _firmwarePlugin->setGuidedMode(this, guidedMode); } -void Vehicle::emergencyStop(void) +void Vehicle::emergencyStop() { sendMavCommand( _defaultComponentId, @@ -3277,7 +3277,7 @@ void Vehicle::sendMavCommandInt(int component, MAV_CMD command, MAV_FRAME frame, } } -void Vehicle::_sendMavCommandAgain(void) +void Vehicle::_sendMavCommandAgain() { if(!_mavCommandQueue.size()) { qWarning() << "Command resend with no commands in queue"; @@ -3364,7 +3364,7 @@ void Vehicle::_sendMavCommandAgain(void) sendMessageOnLink(priorityLink(), msg); } -void Vehicle::_sendNextQueuedMavCommand(void) +void Vehicle::_sendNextQueuedMavCommand() { if (_mavCommandQueue.count()) { _mavCommandRetryCount = 0; @@ -3372,7 +3372,7 @@ void Vehicle::_sendNextQueuedMavCommand(void) } } -void Vehicle::_handleUnsupportedRequestProtocolVersion(void) +void Vehicle::_handleUnsupportedRequestProtocolVersion() { // We end up here if either the vehicle does not support the MAV_CMD_REQUEST_PROTOCOL_VERSION command or if // we never received an Ack back for the command. @@ -3395,7 +3395,7 @@ void Vehicle::_handleUnsupportedRequestProtocolVersion(void) _startPlanRequest(); } -void Vehicle::_protocolVersionTimeOut(void) +void Vehicle::_protocolVersionTimeOut() { // The PROTOCOL_VERSION message didn't make it through the pipe from Vehicle->QGC. // This means although the vehicle may support mavlink 2, the pipe does not. @@ -3405,7 +3405,7 @@ void Vehicle::_protocolVersionTimeOut(void) _startPlanRequest(); } -void Vehicle::_handleUnsupportedRequestAutopilotCapabilities(void) +void Vehicle::_handleUnsupportedRequestAutopilotCapabilities() { // We end up here if either the vehicle does not support the MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES command or if // we never received an Ack back for the command. @@ -3502,7 +3502,7 @@ void Vehicle::setPrearmError(const QString& prearmError) } } -void Vehicle::_prearmErrorTimeout(void) +void Vehicle::_prearmErrorTimeout() { setPrearmError(QString()); } @@ -3524,7 +3524,7 @@ void Vehicle::setFirmwareCustomVersion(int majorVersion, int minorVersion, int p emit firmwareCustomVersionChanged(); } -QString Vehicle::firmwareVersionTypeString(void) const +QString Vehicle::firmwareVersionTypeString() const { switch (_firmwareVersionType) { case FIRMWARE_VERSION_TYPE_DEV: @@ -3576,17 +3576,17 @@ void Vehicle::motorTest(int motor, int percent, int timeoutSecs) sendMavCommand(_defaultComponentId, MAV_CMD_DO_MOTOR_TEST, true, motor, MOTOR_TEST_THROTTLE_PERCENT, percent, timeoutSecs, 0, MOTOR_TEST_ORDER_BOARD); } -QString Vehicle::brandImageIndoor(void) const +QString Vehicle::brandImageIndoor() const { return _firmwarePlugin->brandImageIndoor(this); } -QString Vehicle::brandImageOutdoor(void) const +QString Vehicle::brandImageOutdoor() const { return _firmwarePlugin->brandImageOutdoor(this); } -QStringList Vehicle::unhealthySensors(void) const +QStringList Vehicle::unhealthySensors() const { QStringList sensorList; @@ -3643,7 +3643,7 @@ void Vehicle::setOfflineEditingDefaultComponentId(int defaultComponentId) } } -void Vehicle::triggerCamera(void) +void Vehicle::triggerCamera() { sendMavCommand(_defaultComponentId, MAV_CMD_DO_DIGICAM_CONTROL, @@ -3752,42 +3752,42 @@ void Vehicle::setFirmwarePluginInstanceData(QObject* firmwarePluginInstanceData) _firmwarePluginInstanceData = firmwarePluginInstanceData; } -QString Vehicle::missionFlightMode(void) const +QString Vehicle::missionFlightMode() const { return _firmwarePlugin->missionFlightMode(); } -QString Vehicle::pauseFlightMode(void) const +QString Vehicle::pauseFlightMode() const { return _firmwarePlugin->pauseFlightMode(); } -QString Vehicle::rtlFlightMode(void) const +QString Vehicle::rtlFlightMode() const { return _firmwarePlugin->rtlFlightMode(); } -QString Vehicle::smartRTLFlightMode(void) const +QString Vehicle::smartRTLFlightMode() const { return _firmwarePlugin->smartRTLFlightMode(); } -bool Vehicle::supportsSmartRTL(void) const +bool Vehicle::supportsSmartRTL() const { return _firmwarePlugin->supportsSmartRTL(); } -QString Vehicle::landFlightMode(void) const +QString Vehicle::landFlightMode() const { return _firmwarePlugin->landFlightMode(); } -QString Vehicle::takeControlFlightMode(void) const +QString Vehicle::takeControlFlightMode() const { return _firmwarePlugin->takeControlFlightMode(); } -QString Vehicle::followFlightMode(void) const +QString Vehicle::followFlightMode() const { return _firmwarePlugin->followFlightMode(); } @@ -3825,7 +3825,7 @@ const QVariantList& Vehicle::toolBarIndicators() return emptyList; } -const QVariantList& Vehicle::staticCameraList(void) const +const QVariantList& Vehicle::staticCameraList() const { if (_firmwarePlugin) { return _firmwarePlugin->cameraList(this); @@ -3834,12 +3834,12 @@ const QVariantList& Vehicle::staticCameraList(void) const return emptyList; } -bool Vehicle::vehicleYawsToNextWaypointInMission(void) const +bool Vehicle::vehicleYawsToNextWaypointInMission() const { return _firmwarePlugin->vehicleYawsToNextWaypointInMission(this); } -void Vehicle::_setupAutoDisarmSignalling(void) +void Vehicle::_setupAutoDisarmSignalling() { QString param = _firmwarePlugin->autoDisarmParameter(this); @@ -3850,7 +3850,7 @@ void Vehicle::_setupAutoDisarmSignalling(void) } } -bool Vehicle::autoDisarm(void) +bool Vehicle::autoDisarm() { QString param = _firmwarePlugin->autoDisarmParameter(this); @@ -3893,7 +3893,7 @@ void Vehicle::_handleADSBVehicle(const mavlink_message_t& message) } } -void Vehicle::_updateDistanceHeadingToHome(void) +void Vehicle::_updateDistanceHeadingToHome() { if (coordinate().isValid() && homePosition().isValid()) { _distanceToHomeFact.setRawValue(coordinate().distanceTo(homePosition())); @@ -3908,7 +3908,7 @@ void Vehicle::_updateDistanceHeadingToHome(void) } } -void Vehicle::_updateHeadingToNextWP(void) +void Vehicle::_updateHeadingToNextWP() { const int _currentIndex = _missionManager->currentIndex(); MissionItem _currentItem; @@ -3925,7 +3925,7 @@ void Vehicle::_updateHeadingToNextWP(void) } } -void Vehicle::_updateDistanceToGCS(void) +void Vehicle::_updateDistanceToGCS() { QGeoCoordinate gcsPosition = _toolbox->qgcPositionManager()->gcsPosition(); if (coordinate().isValid() && gcsPosition.isValid()) { @@ -3935,12 +3935,12 @@ void Vehicle::_updateDistanceToGCS(void) } } -void Vehicle::_updateHobbsMeter(void) +void Vehicle::_updateHobbsMeter() { _hobbsFact.setRawValue(hobbsMeter()); } -void Vehicle::forceInitialPlanRequestComplete(void) +void Vehicle::forceInitialPlanRequestComplete() { _initialPlanRequestComplete = true; emit initialPlanRequestCompleteChanged(true); @@ -4163,7 +4163,7 @@ void Vehicle::_writeCsvLine() } #if !defined(NO_ARDUPILOT_DIALECT) -void Vehicle::flashBootloader(void) +void Vehicle::flashBootloader() { sendMavCommand(defaultComponentId(), MAV_CMD_FLASH_BOOTLOADER, @@ -4239,9 +4239,9 @@ void Vehicle::_handleGimbalOrientation(const mavlink_message_t& message) void Vehicle::_handleObstacleDistance(const mavlink_message_t& message) { - mavlink_obstacle_distance_t o; - mavlink_msg_obstacle_distance_decode(&message, &o); - _objectAvoidance->update(&o); + mavlink_obstacle_distance_t o; + mavlink_msg_obstacle_distance_decode(&message, &o); + _objectAvoidance->update(&o); } void Vehicle::updateFlightDistance(double distance) @@ -4389,7 +4389,7 @@ VehicleClockFactGroup::VehicleClockFactGroup(QObject* parent) _currentDateFact.setRawValue (std::numeric_limits::quiet_NaN()); } -void VehicleClockFactGroup::_updateAllValues(void) +void VehicleClockFactGroup::_updateAllValues() { _currentTimeFact.setRawValue(QTime::currentTime().toString()); _currentDateFact.setRawValue(QDateTime::currentDateTime().toString(QLocale::system().dateFormat(QLocale::ShortFormat))); diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h index b0a27f72c7704215b78856e47ba8b1f6e9423bfa..1376fce9e528f9c373c52c2862fa289ec8b729e5 100644 --- a/src/Vehicle/Vehicle.h +++ b/src/Vehicle/Vehicle.h @@ -65,16 +65,16 @@ public: Q_PROPERTY(Fact* rotationPitch90 READ rotationPitch90 CONSTANT) Q_PROPERTY(Fact* rotationPitch270 READ rotationPitch270 CONSTANT) - Fact* rotationNone (void) { return &_rotationNoneFact; } - Fact* rotationYaw45 (void) { return &_rotationYaw45Fact; } - Fact* rotationYaw90 (void) { return &_rotationYaw90Fact; } - Fact* rotationYaw135 (void) { return &_rotationYaw90Fact; } - Fact* rotationYaw180 (void) { return &_rotationYaw180Fact; } - Fact* rotationYaw225 (void) { return &_rotationYaw180Fact; } - Fact* rotationYaw270 (void) { return &_rotationYaw270Fact; } - Fact* rotationYaw315 (void) { return &_rotationYaw315Fact; } - Fact* rotationPitch90 (void) { return &_rotationPitch90Fact; } - Fact* rotationPitch270 (void) { return &_rotationPitch270Fact; } + Fact* rotationNone () { return &_rotationNoneFact; } + Fact* rotationYaw45 () { return &_rotationYaw45Fact; } + Fact* rotationYaw90 () { return &_rotationYaw90Fact; } + Fact* rotationYaw135 () { return &_rotationYaw90Fact; } + Fact* rotationYaw180 () { return &_rotationYaw180Fact; } + Fact* rotationYaw225 () { return &_rotationYaw180Fact; } + Fact* rotationYaw270 () { return &_rotationYaw270Fact; } + Fact* rotationYaw315 () { return &_rotationYaw315Fact; } + Fact* rotationPitch90 () { return &_rotationPitch90Fact; } + Fact* rotationPitch270 () { return &_rotationPitch270Fact; } static const char* _rotationNoneFactName; static const char* _rotationYaw45FactName; @@ -114,12 +114,12 @@ public: Q_PROPERTY(Fact* pitchRate READ pitchRate CONSTANT) Q_PROPERTY(Fact* yawRate READ yawRate CONSTANT) - Fact* roll (void) { return &_rollFact; } - Fact* pitch (void) { return &_pitchFact; } - Fact* yaw (void) { return &_yawFact; } - Fact* rollRate (void) { return &_rollRateFact; } - Fact* pitchRate (void) { return &_pitchRateFact; } - Fact* yawRate (void) { return &_yawRateFact; } + Fact* roll () { return &_rollFact; } + Fact* pitch () { return &_pitchFact; } + Fact* yaw () { return &_yawFact; } + Fact* rollRate () { return &_rollRateFact; } + Fact* pitchRate () { return &_pitchRateFact; } + Fact* yawRate () { return &_yawRateFact; } static const char* _rollFactName; static const char* _pitchFactName; @@ -151,12 +151,12 @@ public: Q_PROPERTY(Fact* clipCount2 READ clipCount2 CONSTANT) Q_PROPERTY(Fact* clipCount3 READ clipCount3 CONSTANT) - Fact* xAxis (void) { return &_xAxisFact; } - Fact* yAxis (void) { return &_yAxisFact; } - Fact* zAxis (void) { return &_zAxisFact; } - Fact* clipCount1 (void) { return &_clipCount1Fact; } - Fact* clipCount2 (void) { return &_clipCount2Fact; } - Fact* clipCount3 (void) { return &_clipCount3Fact; } + Fact* xAxis () { return &_xAxisFact; } + Fact* yAxis () { return &_yAxisFact; } + Fact* zAxis () { return &_zAxisFact; } + Fact* clipCount1 () { return &_clipCount1Fact; } + Fact* clipCount2 () { return &_clipCount2Fact; } + Fact* clipCount3 () { return &_clipCount3Fact; } static const char* _xAxisFactName; static const char* _yAxisFactName; @@ -185,9 +185,9 @@ public: Q_PROPERTY(Fact* speed READ speed CONSTANT) Q_PROPERTY(Fact* verticalSpeed READ verticalSpeed CONSTANT) - Fact* direction (void) { return &_directionFact; } - Fact* speed (void) { return &_speedFact; } - Fact* verticalSpeed (void) { return &_verticalSpeedFact; } + Fact* direction () { return &_directionFact; } + Fact* speed () { return &_speedFact; } + Fact* verticalSpeed () { return &_verticalSpeedFact; } static const char* _directionFactName; static const char* _speedFactName; @@ -215,14 +215,14 @@ public: Q_PROPERTY(Fact* count READ count CONSTANT) Q_PROPERTY(Fact* lock READ lock CONSTANT) - Fact* lat (void) { return &_latFact; } - Fact* lon (void) { return &_lonFact; } - Fact* mgrs (void) { return &_mgrsFact; } - Fact* hdop (void) { return &_hdopFact; } - Fact* vdop (void) { return &_vdopFact; } - Fact* courseOverGround (void) { return &_courseOverGroundFact; } - Fact* count (void) { return &_countFact; } - Fact* lock (void) { return &_lockFact; } + Fact* lat () { return &_latFact; } + Fact* lon () { return &_lonFact; } + Fact* mgrs () { return &_mgrsFact; } + Fact* hdop () { return &_hdopFact; } + Fact* vdop () { return &_vdopFact; } + Fact* courseOverGround () { return &_courseOverGroundFact; } + Fact* count () { return &_countFact; } + Fact* lock () { return &_lockFact; } static const char* _latFactName; static const char* _lonFactName; @@ -261,15 +261,15 @@ public: Q_PROPERTY(Fact* timeRemaining READ timeRemaining CONSTANT) Q_PROPERTY(Fact* chargeState READ chargeState CONSTANT) - Fact* voltage (void) { return &_voltageFact; } - Fact* percentRemaining (void) { return &_percentRemainingFact; } - Fact* mahConsumed (void) { return &_mahConsumedFact; } - Fact* current (void) { return &_currentFact; } - Fact* temperature (void) { return &_temperatureFact; } - Fact* cellCount (void) { return &_cellCountFact; } - Fact* instantPower (void) { return &_instantPowerFact; } - Fact* timeRemaining (void) { return &_timeRemainingFact; } - Fact* chargeState (void) { return &_chargeStateFact; } + Fact* voltage () { return &_voltageFact; } + Fact* percentRemaining () { return &_percentRemainingFact; } + Fact* mahConsumed () { return &_mahConsumedFact; } + Fact* current () { return &_currentFact; } + Fact* temperature () { return &_temperatureFact; } + Fact* cellCount () { return &_cellCountFact; } + Fact* instantPower () { return &_instantPowerFact; } + Fact* timeRemaining () { return &_timeRemainingFact; } + Fact* chargeState () { return &_chargeStateFact; } static const char* _voltageFactName; static const char* _percentRemainingFactName; @@ -314,9 +314,9 @@ public: Q_PROPERTY(Fact* temperature2 READ temperature2 CONSTANT) Q_PROPERTY(Fact* temperature3 READ temperature3 CONSTANT) - Fact* temperature1 (void) { return &_temperature1Fact; } - Fact* temperature2 (void) { return &_temperature2Fact; } - Fact* temperature3 (void) { return &_temperature3Fact; } + Fact* temperature1 () { return &_temperature1Fact; } + Fact* temperature2 () { return &_temperature2Fact; } + Fact* temperature3 () { return &_temperature3Fact; } static const char* _temperature1FactName; static const char* _temperature2FactName; @@ -342,8 +342,8 @@ public: Q_PROPERTY(Fact* currentTime READ currentTime CONSTANT) Q_PROPERTY(Fact* currentDate READ currentDate CONSTANT) - Fact* currentTime (void) { return &_currentTimeFact; } - Fact* currentDate (void) { return &_currentDateFact; } + Fact* currentTime () { return &_currentTimeFact; } + Fact* currentDate () { return &_currentDateFact; } static const char* _currentTimeFactName; static const char* _currentDateFactName; @@ -351,7 +351,7 @@ public: static const char* _settingsGroup; private slots: - void _updateAllValues(void) override; + void _updateAllValues() override; private: Fact _currentTimeFact; @@ -386,26 +386,26 @@ public: Q_PROPERTY(Fact* horizPosAccuracy READ horizPosAccuracy CONSTANT) Q_PROPERTY(Fact* vertPosAccuracy READ vertPosAccuracy CONSTANT) - Fact* goodAttitudeEstimate (void) { return &_goodAttitudeEstimateFact; } - Fact* goodHorizVelEstimate (void) { return &_goodHorizVelEstimateFact; } - Fact* goodVertVelEstimate (void) { return &_goodVertVelEstimateFact; } - Fact* goodHorizPosRelEstimate (void) { return &_goodHorizPosRelEstimateFact; } - Fact* goodHorizPosAbsEstimate (void) { return &_goodHorizPosAbsEstimateFact; } - Fact* goodVertPosAbsEstimate (void) { return &_goodVertPosAbsEstimateFact; } - Fact* goodVertPosAGLEstimate (void) { return &_goodVertPosAGLEstimateFact; } - Fact* goodConstPosModeEstimate (void) { return &_goodConstPosModeEstimateFact; } - Fact* goodPredHorizPosRelEstimate (void) { return &_goodPredHorizPosRelEstimateFact; } - Fact* goodPredHorizPosAbsEstimate (void) { return &_goodPredHorizPosAbsEstimateFact; } - Fact* gpsGlitch (void) { return &_gpsGlitchFact; } - Fact* accelError (void) { return &_accelErrorFact; } - Fact* velRatio (void) { return &_velRatioFact; } - Fact* horizPosRatio (void) { return &_horizPosRatioFact; } - Fact* vertPosRatio (void) { return &_vertPosRatioFact; } - Fact* magRatio (void) { return &_magRatioFact; } - Fact* haglRatio (void) { return &_haglRatioFact; } - Fact* tasRatio (void) { return &_tasRatioFact; } - Fact* horizPosAccuracy (void) { return &_horizPosAccuracyFact; } - Fact* vertPosAccuracy (void) { return &_vertPosAccuracyFact; } + Fact* goodAttitudeEstimate () { return &_goodAttitudeEstimateFact; } + Fact* goodHorizVelEstimate () { return &_goodHorizVelEstimateFact; } + Fact* goodVertVelEstimate () { return &_goodVertVelEstimateFact; } + Fact* goodHorizPosRelEstimate () { return &_goodHorizPosRelEstimateFact; } + Fact* goodHorizPosAbsEstimate () { return &_goodHorizPosAbsEstimateFact; } + Fact* goodVertPosAbsEstimate () { return &_goodVertPosAbsEstimateFact; } + Fact* goodVertPosAGLEstimate () { return &_goodVertPosAGLEstimateFact; } + Fact* goodConstPosModeEstimate () { return &_goodConstPosModeEstimateFact; } + Fact* goodPredHorizPosRelEstimate () { return &_goodPredHorizPosRelEstimateFact; } + Fact* goodPredHorizPosAbsEstimate () { return &_goodPredHorizPosAbsEstimateFact; } + Fact* gpsGlitch () { return &_gpsGlitchFact; } + Fact* accelError () { return &_accelErrorFact; } + Fact* velRatio () { return &_velRatioFact; } + Fact* horizPosRatio () { return &_horizPosRatioFact; } + Fact* vertPosRatio () { return &_vertPosRatioFact; } + Fact* magRatio () { return &_magRatioFact; } + Fact* haglRatio () { return &_haglRatioFact; } + Fact* tasRatio () { return &_tasRatioFact; } + Fact* horizPosAccuracy () { return &_horizPosAccuracyFact; } + Fact* vertPosAccuracy () { return &_vertPosAccuracyFact; } static const char* _goodAttitudeEstimateFactName; static const char* _goodHorizVelEstimateFactName; @@ -534,6 +534,13 @@ public: }; Q_ENUM(MavlinkSysStatus) + enum CheckList { + CheckListNotSetup = 0, + CheckListPassed, + CheckListFailed, + }; + Q_ENUM(CheckList) + Q_PROPERTY(int id READ id CONSTANT) Q_PROPERTY(AutoPilotPlugin* autopilot MEMBER _autopilotPlugin CONSTANT) Q_PROPERTY(QGeoCoordinate coordinate READ coordinate NOTIFY coordinateChanged) @@ -637,6 +644,7 @@ public: Q_PROPERTY(qreal gimbalYaw READ gimbalYaw NOTIFY gimbalYawChanged) Q_PROPERTY(bool gimbalData READ gimbalData NOTIFY gimbalDataChanged) Q_PROPERTY(bool isROIEnabled READ isROIEnabled NOTIFY isROIEnabledChanged) + Q_PROPERTY(CheckList checkListState READ checkListState WRITE setCheckListState NOTIFY checkListStateChanged) // The following properties relate to Orbit status Q_PROPERTY(bool orbitActive READ orbitActive NOTIFY orbitActiveChanged) @@ -706,19 +714,19 @@ public: Q_INVOKABLE void resetMessages(); Q_INVOKABLE void virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust); - Q_INVOKABLE void disconnectInactiveVehicle(void); + Q_INVOKABLE void disconnectInactiveVehicle(); /// Command vehicle to return to launch Q_INVOKABLE void guidedModeRTL(bool smartRTL); /// Command vehicle to land at current location - Q_INVOKABLE void guidedModeLand(void); + Q_INVOKABLE void guidedModeLand(); /// Command vehicle to takeoff from current location Q_INVOKABLE void guidedModeTakeoff(double altitudeRelative); /// @return The minimum takeoff altitude (relative) for guided takeoff. - Q_INVOKABLE double minimumTakeoffAltitude(void); + Q_INVOKABLE double minimumTakeoffAltitude(); /// Command vehicle to move to specified location (altitude is included and relative) Q_INVOKABLE void guidedModeGotoLocation(const QGeoCoordinate& gotoCoord); @@ -740,15 +748,15 @@ public: /// Command vehicle to pause at current location. If vehicle supports guide mode, vehicle will be left /// in guided mode after pause. - Q_INVOKABLE void pauseVehicle(void); + Q_INVOKABLE void pauseVehicle(); /// Command vehicle to kill all motors no matter what state - Q_INVOKABLE void emergencyStop(void); + Q_INVOKABLE void emergencyStop(); /// Command vehicle to abort landing Q_INVOKABLE void abortLanding(double climbOutAltitude); - Q_INVOKABLE void startMission(void); + Q_INVOKABLE void startMission(); /// Alter the current mission item on the vehicle Q_INVOKABLE void setCurrentMissionSequence(int seq); @@ -759,7 +767,7 @@ public: /// Clear Messages Q_INVOKABLE void clearMessages(); - Q_INVOKABLE void triggerCamera(void); + Q_INVOKABLE void triggerCamera(); Q_INVOKABLE void sendPlan(QString planFile); /// Used to check if running current version is equal or higher than the one being compared. @@ -781,20 +789,20 @@ public: Q_INVOKABLE void centerGimbal (); #if !defined(NO_ARDUPILOT_DIALECT) - Q_INVOKABLE void flashBootloader(void); + Q_INVOKABLE void flashBootloader(); #endif - bool guidedModeSupported (void) const; - bool pauseVehicleSupported (void) const; - bool orbitModeSupported (void) const; - bool roiModeSupported (void) const; - bool takeoffVehicleSupported (void) const; - QString gotoFlightMode (void) const; + bool guidedModeSupported () const; + bool pauseVehicleSupported () const; + bool orbitModeSupported () const; + bool roiModeSupported () const; + bool takeoffVehicleSupported () const; + QString gotoFlightMode () const; // Property accessors - QGeoCoordinate coordinate (void) { return _coordinate; } - QGeoCoordinate armedPosition (void) { return _armedPosition; } + QGeoCoordinate coordinate() { return _coordinate; } + QGeoCoordinate armedPosition () { return _armedPosition; } typedef enum { JoystickModeRC, ///< Joystick emulates an RC Transmitter @@ -807,28 +815,28 @@ public: void updateFlightDistance(double distance); - int joystickMode(void); + int joystickMode(); void setJoystickMode(int mode); /// List of joystick mode names - QStringList joystickModes(void); + QStringList joystickModes(); - bool joystickEnabled(void); + bool joystickEnabled(); void setJoystickEnabled(bool enabled); // Is vehicle active with respect to current active vehicle in QGC - bool active(void); + bool active(); void setActive(bool active); // Property accesors - int id(void) { return _id; } - MAV_AUTOPILOT firmwareType(void) const { return _firmwareType; } - MAV_TYPE vehicleType(void) const { return _vehicleType; } - Q_INVOKABLE QString vehicleTypeName(void) const; + int id() { return _id; } + MAV_AUTOPILOT firmwareType() const { return _firmwareType; } + MAV_TYPE vehicleType() const { return _vehicleType; } + Q_INVOKABLE QString vehicleTypeName() const; /// Returns the highest quality link available to the Vehicle. If you need to hold a reference to this link use /// LinkManager::sharedLinkInterfaceForGet to get QSharedPointer for link. - LinkInterface* priorityLink(void) { return _priorityLink.data(); } + LinkInterface* priorityLink() { return _priorityLink.data(); } /// Sends a message to the specified link /// @return true: message sent, false: Link no longer connected @@ -839,55 +847,55 @@ public: void sendMessageMultiple(mavlink_message_t message); /// Provides access to uas from vehicle. Temporary workaround until UAS is fully phased out. - UAS* uas(void) { return _uas; } + UAS* uas() { return _uas; } /// Provides access to uas from vehicle. Temporary workaround until AutoPilotPlugin is fully phased out. - AutoPilotPlugin* autopilotPlugin(void) { return _autopilotPlugin; } + AutoPilotPlugin* autopilotPlugin() { return _autopilotPlugin; } /// Provides access to the Firmware Plugin for this Vehicle - FirmwarePlugin* firmwarePlugin(void) { return _firmwarePlugin; } + FirmwarePlugin* firmwarePlugin() { return _firmwarePlugin; } - MissionManager* missionManager(void) { return _missionManager; } - GeoFenceManager* geoFenceManager(void) { return _geoFenceManager; } - RallyPointManager* rallyPointManager(void) { return _rallyPointManager; } + MissionManager* missionManager() { return _missionManager; } + GeoFenceManager* geoFenceManager() { return _geoFenceManager; } + RallyPointManager* rallyPointManager() { return _rallyPointManager; } - QGeoCoordinate homePosition(void); + QGeoCoordinate homePosition(); bool armed () { return _armed; } void setArmed (bool armed); - bool flightModeSetAvailable (void); - QStringList flightModes (void); - QStringList extraJoystickFlightModes (void); - QString flightMode (void) const; + bool flightModeSetAvailable (); + QStringList flightModes (); + QStringList extraJoystickFlightModes (); + QString flightMode () const; void setFlightMode (const QString& flightMode); - QString priorityLinkName(void) const; - QVariantList links(void) const; + QString priorityLinkName() const; + QVariantList links() const; void setPriorityLinkByName(const QString& priorityLinkName); - bool hilMode(void); + bool hilMode(); void setHilMode(bool hilMode); - bool fixedWing(void) const; - bool multiRotor(void) const; - bool vtol(void) const; - bool rover(void) const; - bool sub(void) const; + bool fixedWing() const; + bool multiRotor() const; + bool vtol() const; + bool rover() const; + bool sub() const; - bool supportsThrottleModeCenterZero (void) const; - bool supportsNegativeThrust (void); - bool supportsRadio (void) const; - bool supportsJSButton (void) const; - bool supportsMotorInterference (void) const; - bool supportsTerrainFrame (void) const; + bool supportsThrottleModeCenterZero () const; + bool supportsNegativeThrust (); + bool supportsRadio () const; + bool supportsJSButton () const; + bool supportsMotorInterference () const; + bool supportsTerrainFrame () const; void setGuidedMode(bool guidedMode); - QString prearmError(void) const { return _prearmError; } + QString prearmError() const { return _prearmError; } void setPrearmError(const QString& prearmError); - QmlObjectListModel* cameraTriggerPoints (void) { return &_cameraTriggerPoints; } + QmlObjectListModel* cameraTriggerPoints () { return &_cameraTriggerPoints; } int flowImageIndex() { return _flowImageIndex; } @@ -971,35 +979,35 @@ public: /// @return the maximum version unsigned maxProtoVersion () const { return _maxProtoVersion; } - Fact* roll (void) { return &_rollFact; } - Fact* pitch (void) { return &_pitchFact; } - Fact* heading (void) { return &_headingFact; } - Fact* rollRate (void) { return &_rollRateFact; } - Fact* pitchRate (void) { return &_pitchRateFact; } - Fact* yawRate (void) { return &_yawRateFact; } - Fact* airSpeed (void) { return &_airSpeedFact; } - Fact* groundSpeed (void) { return &_groundSpeedFact; } - Fact* climbRate (void) { return &_climbRateFact; } - Fact* altitudeRelative (void) { return &_altitudeRelativeFact; } - Fact* altitudeAMSL (void) { return &_altitudeAMSLFact; } - Fact* flightDistance (void) { return &_flightDistanceFact; } - Fact* distanceToHome (void) { return &_distanceToHomeFact; } - Fact* headingToNextWP (void) { return &_headingToNextWPFact; } - Fact* headingToHome (void) { return &_headingToHomeFact; } - Fact* distanceToGCS (void) { return &_distanceToGCSFact; } - Fact* hobbs (void) { return &_hobbsFact; } - Fact* throttlePct (void) { return &_throttlePctFact; } - - FactGroup* gpsFactGroup (void) { return &_gpsFactGroup; } - FactGroup* battery1FactGroup (void) { return &_battery1FactGroup; } - FactGroup* battery2FactGroup (void) { return &_battery2FactGroup; } - FactGroup* windFactGroup (void) { return &_windFactGroup; } - FactGroup* vibrationFactGroup (void) { return &_vibrationFactGroup; } - FactGroup* temperatureFactGroup (void) { return &_temperatureFactGroup; } - FactGroup* clockFactGroup (void) { return &_clockFactGroup; } - FactGroup* setpointFactGroup (void) { return &_setpointFactGroup; } - FactGroup* distanceSensorFactGroup (void) { return &_distanceSensorFactGroup; } - FactGroup* estimatorStatusFactGroup (void) { return &_estimatorStatusFactGroup; } + Fact* roll () { return &_rollFact; } + Fact* pitch () { return &_pitchFact; } + Fact* heading () { return &_headingFact; } + Fact* rollRate () { return &_rollRateFact; } + Fact* pitchRate () { return &_pitchRateFact; } + Fact* yawRate () { return &_yawRateFact; } + Fact* airSpeed () { return &_airSpeedFact; } + Fact* groundSpeed () { return &_groundSpeedFact; } + Fact* climbRate () { return &_climbRateFact; } + Fact* altitudeRelative () { return &_altitudeRelativeFact; } + Fact* altitudeAMSL () { return &_altitudeAMSLFact; } + Fact* flightDistance () { return &_flightDistanceFact; } + Fact* distanceToHome () { return &_distanceToHomeFact; } + Fact* headingToNextWP () { return &_headingToNextWPFact; } + Fact* headingToHome () { return &_headingToHomeFact; } + Fact* distanceToGCS () { return &_distanceToGCSFact; } + Fact* hobbs () { return &_hobbsFact; } + Fact* throttlePct () { return &_throttlePctFact; } + + FactGroup* gpsFactGroup () { return &_gpsFactGroup; } + FactGroup* battery1FactGroup () { return &_battery1FactGroup; } + FactGroup* battery2FactGroup () { return &_battery2FactGroup; } + FactGroup* windFactGroup () { return &_windFactGroup; } + FactGroup* vibrationFactGroup () { return &_vibrationFactGroup; } + FactGroup* temperatureFactGroup () { return &_temperatureFactGroup; } + FactGroup* clockFactGroup () { return &_clockFactGroup; } + FactGroup* setpointFactGroup () { return &_setpointFactGroup; } + FactGroup* distanceSensorFactGroup () { return &_distanceSensorFactGroup; } + FactGroup* estimatorStatusFactGroup () { return &_estimatorStatusFactGroup; } void setConnectionLostEnabled(bool connectionLostEnabled); @@ -1035,41 +1043,41 @@ public: static_cast(param7)); } - int firmwareMajorVersion(void) const { return _firmwareMajorVersion; } - int firmwareMinorVersion(void) const { return _firmwareMinorVersion; } - int firmwarePatchVersion(void) const { return _firmwarePatchVersion; } - int firmwareVersionType(void) const { return _firmwareVersionType; } - int firmwareCustomMajorVersion(void) const { return _firmwareCustomMajorVersion; } - int firmwareCustomMinorVersion(void) const { return _firmwareCustomMinorVersion; } - int firmwareCustomPatchVersion(void) const { return _firmwareCustomPatchVersion; } - QString firmwareVersionTypeString(void) const; + int firmwareMajorVersion() const { return _firmwareMajorVersion; } + int firmwareMinorVersion() const { return _firmwareMinorVersion; } + int firmwarePatchVersion() const { return _firmwarePatchVersion; } + int firmwareVersionType() const { return _firmwareVersionType; } + int firmwareCustomMajorVersion() const { return _firmwareCustomMajorVersion; } + int firmwareCustomMinorVersion() const { return _firmwareCustomMinorVersion; } + int firmwareCustomPatchVersion() const { return _firmwareCustomPatchVersion; } + QString firmwareVersionTypeString() const; void setFirmwareVersion(int majorVersion, int minorVersion, int patchVersion, FIRMWARE_VERSION_TYPE versionType = FIRMWARE_VERSION_TYPE_OFFICIAL); void setFirmwareCustomVersion(int majorVersion, int minorVersion, int patchVersion); static const int versionNotSetValue = -1; - QString gitHash(void) const { return _gitHash; } - quint64 vehicleUID(void) const { return _uid; } + QString gitHash() const { return _gitHash; } + quint64 vehicleUID() const { return _uid; } QString vehicleUIDStr(); - bool soloFirmware(void) const { return _soloFirmware; } + bool soloFirmware() const { return _soloFirmware; } void setSoloFirmware(bool soloFirmware); - int defaultComponentId(void) { return _defaultComponentId; } + int defaultComponentId() { return _defaultComponentId; } /// Sets the default component id for an offline editing vehicle void setOfflineEditingDefaultComponentId(int defaultComponentId); /// @return -1 = Unknown, Number of motors on vehicle - int motorCount(void); + int motorCount(); /// @return true: Motors are coaxial like an X8 config, false: Quadcopter for example - bool coaxialMotors(void); + bool coaxialMotors(); /// @return true: X confiuration, false: Plus configuration - bool xConfigMotors(void); + bool xConfigMotors(); /// @return Firmware plugin instance data associated with this Vehicle - QObject* firmwarePluginInstanceData(void) { return _firmwarePluginInstanceData; } + QObject* firmwarePluginInstanceData() { return _firmwarePluginInstanceData; } /// Sets the firmware plugin instance data associated with this Vehicle. This object will be parented to the Vehicle /// and destroyed when the vehicle goes away. @@ -1080,22 +1088,22 @@ public: QString vehicleImageCompass () const; const QVariantList& toolBarIndicators (); - const QVariantList& staticCameraList (void) const; + const QVariantList& staticCameraList () const; - bool capabilitiesKnown (void) const { return _vehicleCapabilitiesKnown; } - uint64_t capabilityBits (void) const { return _capabilityBits; } // Change signalled by capabilityBitsChanged + bool capabilitiesKnown () const { return _vehicleCapabilitiesKnown; } + uint64_t capabilityBits () const { return _capabilityBits; } // Change signalled by capabilityBitsChanged QGCCameraManager* dynamicCameras () { return _cameras; } QString hobbsMeter (); /// @true: When flying a mission the vehicle is always facing towards the next waypoint - bool vehicleYawsToNextWaypointInMission(void) const; + bool vehicleYawsToNextWaypointInMission() const; /// The vehicle is responsible for making the initial request for the Plan. /// @return: true: initial request is complete, false: initial request is still in progress; - bool initialPlanRequestComplete(void) const { return _initialPlanRequestComplete; } + bool initialPlanRequestComplete() const { return _initialPlanRequestComplete; } - void forceInitialPlanRequestComplete(void); + void forceInitialPlanRequestComplete(); void _setFlying(bool flying); void _setLanding(bool landing); @@ -1116,101 +1124,105 @@ public: bool gimbalData () { return _haveGimbalData; } bool isROIEnabled () { return _isROIEnabled; } + CheckList checkListState () { return _checkListState; } + void setCheckListState (CheckList cl) { _checkListState = cl; emit checkListStateChanged(); } + public slots: void setVtolInFwdFlight (bool vtolInFwdFlight); signals: - void allLinksInactive(Vehicle* vehicle); - void coordinateChanged(QGeoCoordinate coordinate); - void joystickModeChanged(int mode); - void joystickEnabledChanged(bool enabled); - void activeChanged(bool active); - void mavlinkMessageReceived(const mavlink_message_t& message); - void homePositionChanged(const QGeoCoordinate& homePosition); + void allLinksInactive (Vehicle* vehicle); + void coordinateChanged (QGeoCoordinate coordinate); + void joystickModeChanged (int mode); + void joystickEnabledChanged (bool enabled); + void activeChanged (bool active); + void mavlinkMessageReceived (const mavlink_message_t& message); + void homePositionChanged (const QGeoCoordinate& homePosition); void armedPositionChanged(); - void armedChanged(bool armed); - void flightModeChanged(const QString& flightMode); - void hilModeChanged(bool hilMode); + void armedChanged (bool armed); + void flightModeChanged (const QString& flightMode); + void hilModeChanged (bool hilMode); /** @brief HIL actuator controls (replaces HIL controls) */ - void hilActuatorControlsChanged(quint64 time, quint64 flags, float ctl_0, float ctl_1, float ctl_2, float ctl_3, float ctl_4, float ctl_5, float ctl_6, float ctl_7, float ctl_8, float ctl_9, float ctl_10, float ctl_11, float ctl_12, float ctl_13, float ctl_14, float ctl_15, quint8 mode); - void connectionLostChanged(bool connectionLost); - void connectionLostEnabledChanged(bool connectionLostEnabled); - void autoDisconnectChanged(bool autoDisconnectChanged); - void flyingChanged(bool flying); - void landingChanged(bool landing); - void guidedModeChanged(bool guidedMode); - void vtolInFwdFlightChanged(bool vtolInFwdFlight); - void prearmErrorChanged(const QString& prearmError); - void soloFirmwareChanged(bool soloFirmware); - void unhealthySensorsChanged(void); - void defaultCruiseSpeedChanged(double cruiseSpeed); - void defaultHoverSpeedChanged(double hoverSpeed); - void firmwareTypeChanged(void); - void vehicleTypeChanged(void); - void dynamicCamerasChanged(); - void hobbsMeterChanged(); - void capabilitiesKnownChanged(bool capabilitiesKnown); + void hilActuatorControlsChanged (quint64 time, quint64 flags, float ctl_0, float ctl_1, float ctl_2, float ctl_3, float ctl_4, float ctl_5, float ctl_6, float ctl_7, float ctl_8, float ctl_9, float ctl_10, float ctl_11, float ctl_12, float ctl_13, float ctl_14, float ctl_15, quint8 mode); + void connectionLostChanged (bool connectionLost); + void connectionLostEnabledChanged (bool connectionLostEnabled); + void autoDisconnectChanged (bool autoDisconnectChanged); + void flyingChanged (bool flying); + void landingChanged (bool landing); + void guidedModeChanged (bool guidedMode); + void vtolInFwdFlightChanged (bool vtolInFwdFlight); + void prearmErrorChanged (const QString& prearmError); + void soloFirmwareChanged (bool soloFirmware); + void unhealthySensorsChanged (); + void defaultCruiseSpeedChanged (double cruiseSpeed); + void defaultHoverSpeedChanged (double hoverSpeed); + void firmwareTypeChanged (); + void vehicleTypeChanged (); + void dynamicCamerasChanged (); + void hobbsMeterChanged (); + void capabilitiesKnownChanged (bool capabilitiesKnown); void initialPlanRequestCompleteChanged(bool initialPlanRequestComplete); - void capabilityBitsChanged(uint64_t capabilityBits); - void toolBarIndicatorsChanged(void); - void highLatencyLinkChanged(bool highLatencyLink); - void priorityLinkNameChanged(const QString& priorityLinkName); - void linksChanged(void); - void linksPropertiesChanged(void); - void textMessageReceived(int uasid, int componentid, int severity, QString text); - - void messagesReceivedChanged (); - void messagesSentChanged (); - void messagesLostChanged (); + void capabilityBitsChanged (uint64_t capabilityBits); + void toolBarIndicatorsChanged (); + void highLatencyLinkChanged (bool highLatencyLink); + void priorityLinkNameChanged (const QString& priorityLinkName); + void linksChanged (); + void linksPropertiesChanged (); + void textMessageReceived (int uasid, int componentid, int severity, QString text); + void checkListStateChanged (); + + void messagesReceivedChanged (); + void messagesSentChanged (); + void messagesLostChanged (); /// Used internally to move sendMessage call to main thread void _sendMessageOnLinkOnThread(LinkInterface* link, mavlink_message_t message); - void messageTypeChanged (); - void newMessageCountChanged (); - void messageCountChanged (); - void formatedMessagesChanged (); - void formatedMessageChanged (); - void latestErrorChanged (); - void longitudeChanged (); - void currentConfigChanged (); - void flowImageIndexChanged (); - void rcRSSIChanged (int rcRSSI); - void telemetryRRSSIChanged (int value); - void telemetryLRSSIChanged (int value); - void telemetryRXErrorsChanged (unsigned int value); - void telemetryFixedChanged (unsigned int value); - void telemetryTXBufferChanged (unsigned int value); - void telemetryLNoiseChanged (int value); - void telemetryRNoiseChanged (int value); - void autoDisarmChanged (void); - void flightModesChanged (void); - void sensorsPresentBitsChanged (int sensorsPresentBits); - void sensorsEnabledBitsChanged (int sensorsEnabledBits); - void sensorsHealthBitsChanged (int sensorsHealthBits); - void sensorsUnhealthyBitsChanged(int sensorsUnhealthyBits); - void orbitActiveChanged (bool orbitActive); - - void firmwareVersionChanged(void); - void firmwareCustomVersionChanged(void); - void gitHashChanged(QString hash); - void vehicleUIDChanged(); + void messageTypeChanged (); + void newMessageCountChanged (); + void messageCountChanged (); + void formatedMessagesChanged (); + void formatedMessageChanged (); + void latestErrorChanged (); + void longitudeChanged (); + void currentConfigChanged (); + void flowImageIndexChanged (); + void rcRSSIChanged (int rcRSSI); + void telemetryRRSSIChanged (int value); + void telemetryLRSSIChanged (int value); + void telemetryRXErrorsChanged (unsigned int value); + void telemetryFixedChanged (unsigned int value); + void telemetryTXBufferChanged (unsigned int value); + void telemetryLNoiseChanged (int value); + void telemetryRNoiseChanged (int value); + void autoDisarmChanged (); + void flightModesChanged (); + void sensorsPresentBitsChanged (int sensorsPresentBits); + void sensorsEnabledBitsChanged (int sensorsEnabledBits); + void sensorsHealthBitsChanged (int sensorsHealthBits); + void sensorsUnhealthyBitsChanged (int sensorsUnhealthyBits); + void orbitActiveChanged (bool orbitActive); + + void firmwareVersionChanged (); + void firmwareCustomVersionChanged (); + void gitHashChanged (QString hash); + void vehicleUIDChanged (); /// New RC channel values /// @param channelCount Number of available channels, cMaxRcChannels max /// @param pwmValues -1 signals channel not available - void rcChannelsChanged(int channelCount, int pwmValues[cMaxRcChannels]); + void rcChannelsChanged (int channelCount, int pwmValues[cMaxRcChannels]); /// Remote control RSSI changed (0% - 100%) - void remoteControlRSSIChanged(uint8_t rssi); + void remoteControlRSSIChanged (uint8_t rssi); - void mavlinkRawImu(mavlink_message_t message); - void mavlinkScaledImu1(mavlink_message_t message); - void mavlinkScaledImu2(mavlink_message_t message); - void mavlinkScaledImu3(mavlink_message_t message); + void mavlinkRawImu (mavlink_message_t message); + void mavlinkScaledImu1 (mavlink_message_t message); + void mavlinkScaledImu2 (mavlink_message_t message); + void mavlinkScaledImu3 (mavlink_message_t message); // Mavlink Log Download - void mavlinkLogData (Vehicle* vehicle, uint8_t target_system, uint8_t target_component, uint16_t sequence, uint8_t first_message, QByteArray data, bool acked); + void mavlinkLogData (Vehicle* vehicle, uint8_t target_system, uint8_t target_component, uint16_t sequence, uint8_t first_message, QByteArray data, bool acked); /// Signalled in response to usage of sendMavCommand /// @param vehicleId Vehicle which command was sent to @@ -1218,132 +1230,132 @@ signals: /// @param command MAV_CMD Command which was sent /// @param result MAV_RESULT returned in ack /// @param noResponseFromVehicle true: vehicle did not respond to command, false: vehicle responsed, MAV_RESULT in result - void mavCommandResult(int vehicleId, int component, int command, int result, bool noReponseFromVehicle); + void mavCommandResult (int vehicleId, int component, int command, int result, bool noReponseFromVehicle); // MAVlink Serial Data - void mavlinkSerialControl(uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, QByteArray data); + void mavlinkSerialControl (uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, QByteArray data); // MAVLink protocol version - void requestProtocolVersion (unsigned version); - void mavlinkStatusChanged (); + void requestProtocolVersion (unsigned version); + void mavlinkStatusChanged (); - void gimbalRollChanged (); - void gimbalPitchChanged (); - void gimbalYawChanged (); - void gimbalDataChanged (); - void isROIEnabledChanged (); + void gimbalRollChanged (); + void gimbalPitchChanged (); + void gimbalYawChanged (); + void gimbalDataChanged (); + void isROIEnabledChanged (); private slots: - void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message); - void _linkInactiveOrDeleted(LinkInterface* link); - void _sendMessageOnLink(LinkInterface* link, mavlink_message_t message); - void _sendMessageMultipleNext(void); - void _parametersReady(bool parametersReady); - void _remoteControlRSSIChanged(uint8_t rssi); - void _handleFlightModeChanged(const QString& flightMode); - void _announceArmedChanged(bool armed); + void _mavlinkMessageReceived (LinkInterface* link, mavlink_message_t message); + void _linkInactiveOrDeleted (LinkInterface* link); + void _sendMessageOnLink (LinkInterface* link, mavlink_message_t message); + void _sendMessageMultipleNext (); + void _parametersReady (bool parametersReady); + void _remoteControlRSSIChanged (uint8_t rssi); + void _handleFlightModeChanged (const QString& flightMode); + void _announceArmedChanged (bool armed); void _offlineFirmwareTypeSettingChanged(QVariant value); void _offlineVehicleTypeSettingChanged(QVariant value); void _offlineCruiseSpeedSettingChanged(QVariant value); void _offlineHoverSpeedSettingChanged(QVariant value); - void _updateHighLatencyLink(bool sendCommand = true); + void _updateHighLatencyLink (bool sendCommand = true); - void _handleTextMessage (int newCount); - void _handletextMessageReceived (UASMessage* message); + void _handleTextMessage (int newCount); + void _handletextMessageReceived (UASMessage* message); /** @brief A new camera image has arrived */ - void _imageReady (UASInterface* uas); - void _prearmErrorTimeout(void); - void _missionLoadComplete(void); - void _geoFenceLoadComplete(void); - void _rallyPointLoadComplete(void); - void _sendMavCommandAgain(void); - void _clearCameraTriggerPoints(void); - void _updateDistanceHeadingToHome(void); - void _updateHeadingToNextWP(void); - void _updateDistanceToGCS(void); - void _updateHobbsMeter(void); - void _vehicleParamLoaded(bool ready); - void _sendQGCTimeToVehicle(void); - void _mavlinkMessageStatus(int uasId, uint64_t totalSent, uint64_t totalReceived, uint64_t totalLoss, float lossPercent); - - void _trafficUpdate (bool alert, QString traffic_id, QString vehicle_id, QGeoCoordinate location, float heading); - void _orbitTelemetryTimeout (void); - void _protocolVersionTimeOut(void); - void _updateFlightTime (void); + void _imageReady (UASInterface* uas); + void _prearmErrorTimeout (); + void _missionLoadComplete (); + void _geoFenceLoadComplete (); + void _rallyPointLoadComplete (); + void _sendMavCommandAgain (); + void _clearCameraTriggerPoints (); + void _updateDistanceHeadingToHome (); + void _updateHeadingToNextWP (); + void _updateDistanceToGCS (); + void _updateHobbsMeter (); + void _vehicleParamLoaded (bool ready); + void _sendQGCTimeToVehicle (); + void _mavlinkMessageStatus (int uasId, uint64_t totalSent, uint64_t totalReceived, uint64_t totalLoss, float lossPercent); + + void _trafficUpdate (bool alert, QString traffic_id, QString vehicle_id, QGeoCoordinate location, float heading); + void _orbitTelemetryTimeout (); + void _protocolVersionTimeOut (); + void _updateFlightTime (); private: - bool _containsLink (LinkInterface* link); - void _addLink (LinkInterface* link); - void _joystickChanged (Joystick* joystick); - void _loadSettings(void); - void _saveSettings(void); - void _startJoystick(bool start); - void _handlePing(LinkInterface* link, mavlink_message_t& message); - void _handleHomePosition(mavlink_message_t& message); - void _handleHeartbeat(mavlink_message_t& message); - void _handleRadioStatus(mavlink_message_t& message); - void _handleRCChannels(mavlink_message_t& message); - void _handleRCChannelsRaw(mavlink_message_t& message); - void _handleBatteryStatus(mavlink_message_t& message); - void _handleSysStatus(mavlink_message_t& message); - void _handleWindCov(mavlink_message_t& message); - void _handleVibration(mavlink_message_t& message); - void _handleExtendedSysState(mavlink_message_t& message); - void _handleCommandAck(mavlink_message_t& message); - void _handleCommandLong(mavlink_message_t& message); - void _handleAutopilotVersion(LinkInterface* link, mavlink_message_t& message); - void _handleProtocolVersion(LinkInterface* link, mavlink_message_t& message); - void _handleHilActuatorControls(mavlink_message_t& message); - void _handleGpsRawInt(mavlink_message_t& message); - void _handleGlobalPositionInt(mavlink_message_t& message); - void _handleAltitude(mavlink_message_t& message); - void _handleVfrHud(mavlink_message_t& message); - void _handleScaledPressure(mavlink_message_t& message); - void _handleScaledPressure2(mavlink_message_t& message); - void _handleScaledPressure3(mavlink_message_t& message); - void _handleHighLatency2(mavlink_message_t& message); - void _handleAttitudeWorker(double rollRadians, double pitchRadians, double yawRadians); - void _handleAttitude(mavlink_message_t& message); - void _handleAttitudeQuaternion(mavlink_message_t& message); - void _handleAttitudeTarget(mavlink_message_t& message); - void _handleDistanceSensor(mavlink_message_t& message); - void _handleEstimatorStatus(mavlink_message_t& message); - void _handleStatusText(mavlink_message_t& message, bool longVersion); - void _handleOrbitExecutionStatus(const mavlink_message_t& message); - void _handleMessageInterval(const mavlink_message_t& message); - void _handleGimbalOrientation(const mavlink_message_t& message); - void _handleObstacleDistance(const mavlink_message_t& message); + bool _containsLink (LinkInterface* link); + void _addLink (LinkInterface* link); + void _joystickChanged (Joystick* joystick); + void _loadSettings (); + void _saveSettings (); + void _startJoystick (bool start); + void _handlePing (LinkInterface* link, mavlink_message_t& message); + void _handleHomePosition (mavlink_message_t& message); + void _handleHeartbeat (mavlink_message_t& message); + void _handleRadioStatus (mavlink_message_t& message); + void _handleRCChannels (mavlink_message_t& message); + void _handleRCChannelsRaw (mavlink_message_t& message); + void _handleBatteryStatus (mavlink_message_t& message); + void _handleSysStatus (mavlink_message_t& message); + void _handleWindCov (mavlink_message_t& message); + void _handleVibration (mavlink_message_t& message); + void _handleExtendedSysState (mavlink_message_t& message); + void _handleCommandAck (mavlink_message_t& message); + void _handleCommandLong (mavlink_message_t& message); + void _handleAutopilotVersion (LinkInterface* link, mavlink_message_t& message); + void _handleProtocolVersion (LinkInterface* link, mavlink_message_t& message); + void _handleHilActuatorControls (mavlink_message_t& message); + void _handleGpsRawInt (mavlink_message_t& message); + void _handleGlobalPositionInt (mavlink_message_t& message); + void _handleAltitude (mavlink_message_t& message); + void _handleVfrHud (mavlink_message_t& message); + void _handleScaledPressure (mavlink_message_t& message); + void _handleScaledPressure2 (mavlink_message_t& message); + void _handleScaledPressure3 (mavlink_message_t& message); + void _handleHighLatency2 (mavlink_message_t& message); + void _handleAttitudeWorker (double rollRadians, double pitchRadians, double yawRadians); + void _handleAttitude (mavlink_message_t& message); + void _handleAttitudeQuaternion (mavlink_message_t& message); + void _handleAttitudeTarget (mavlink_message_t& message); + void _handleDistanceSensor (mavlink_message_t& message); + void _handleEstimatorStatus (mavlink_message_t& message); + void _handleStatusText (mavlink_message_t& message, bool longVersion); + void _handleOrbitExecutionStatus (const mavlink_message_t& message); + void _handleMessageInterval (const mavlink_message_t& message); + void _handleGimbalOrientation (const mavlink_message_t& message); + void _handleObstacleDistance (const mavlink_message_t& message); // ArduPilot dialect messages #if !defined(NO_ARDUPILOT_DIALECT) - void _handleCameraFeedback(const mavlink_message_t& message); - void _handleWind(mavlink_message_t& message); + void _handleCameraFeedback (const mavlink_message_t& message); + void _handleWind (mavlink_message_t& message); #endif - void _handleCameraImageCaptured(const mavlink_message_t& message); - void _handleADSBVehicle(const mavlink_message_t& message); - void _missionManagerError(int errorCode, const QString& errorMsg); - void _geoFenceManagerError(int errorCode, const QString& errorMsg); - void _rallyPointManagerError(int errorCode, const QString& errorMsg); - void _linkActiveChanged(LinkInterface* link, bool active, int vehicleID); - void _say(const QString& text); - QString _vehicleIdSpeech(void); - void _handleMavlinkLoggingData(mavlink_message_t& message); - void _handleMavlinkLoggingDataAcked(mavlink_message_t& message); - void _ackMavlinkLogData(uint16_t sequence); - void _sendNextQueuedMavCommand(void); - void _updatePriorityLink(bool updateActive, bool sendCommand); - void _commonInit(void); - void _startPlanRequest(void); - void _setupAutoDisarmSignalling(void); - void _setCapabilities(uint64_t capabilityBits); - void _updateArmed(bool armed); - bool _apmArmingNotRequired(void); - void _pidTuningAdjustRates(bool setRatesForTuning); - void _handleUnsupportedRequestAutopilotCapabilities(void); - void _handleUnsupportedRequestProtocolVersion(void); - void _initializeCsv(); - void _writeCsvLine(); - void _flightTimerStart(void); - void _flightTimerStop(void); + void _handleCameraImageCaptured (const mavlink_message_t& message); + void _handleADSBVehicle (const mavlink_message_t& message); + void _missionManagerError (int errorCode, const QString& errorMsg); + void _geoFenceManagerError (int errorCode, const QString& errorMsg); + void _rallyPointManagerError (int errorCode, const QString& errorMsg); + void _linkActiveChanged (LinkInterface* link, bool active, int vehicleID); + void _say (const QString& text); + QString _vehicleIdSpeech (); + void _handleMavlinkLoggingData (mavlink_message_t& message); + void _handleMavlinkLoggingDataAcked (mavlink_message_t& message); + void _ackMavlinkLogData (uint16_t sequence); + void _sendNextQueuedMavCommand (); + void _updatePriorityLink (bool updateActive, bool sendCommand); + void _commonInit (); + void _startPlanRequest (); + void _setupAutoDisarmSignalling (); + void _setCapabilities (uint64_t capabilityBits); + void _updateArmed (bool armed); + bool _apmArmingNotRequired (); + void _pidTuningAdjustRates (bool setRatesForTuning); + void _handleUnsupportedRequestAutopilotCapabilities(); + void _handleUnsupportedRequestProtocolVersion(); + void _initializeCsv (); + void _writeCsvLine (); + void _flightTimerStart (); + void _flightTimerStop (); int _id; ///< Mavlink system id int _defaultComponentId; @@ -1360,8 +1372,8 @@ private: QGCToolbox* _toolbox; SettingsManager* _settingsManager; - QTimer _csvLogTimer; - QFile _csvLogFile; + QTimer _csvLogTimer; + QFile _csvLogFile; QList _links; @@ -1411,6 +1423,7 @@ private: uint64_t _capabilityBits; bool _highLatencyLink; bool _receivingAttitudeQuaternion; + CheckList _checkListState = CheckListNotSetup; QGCCameraManager* _cameras;