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Commit 2894ffb6 authored by Gus Grubba's avatar Gus Grubba
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Keep state of checklist within vehicle.

parent 76b6b9de
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Showing with 458 additions and 445 deletions
src/Vehicle/Vehicle.cc
View file @ 2894ffb6
...@@ -432,7 +432,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType, ...@@ -432,7 +432,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
_firmwarePlugin->initializeVehicle(this); _firmwarePlugin->initializeVehicle(this);
} }
void Vehicle::_commonInit(void) void Vehicle::_commonInit()
{ {
_firmwarePlugin = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType); _firmwarePlugin = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
...@@ -599,7 +599,7 @@ void Vehicle::_offlineHoverSpeedSettingChanged(QVariant value) ...@@ -599,7 +599,7 @@ void Vehicle::_offlineHoverSpeedSettingChanged(QVariant value)
emit defaultHoverSpeedChanged(_defaultHoverSpeed); emit defaultHoverSpeedChanged(_defaultHoverSpeed);
} }
QString Vehicle::firmwareTypeString(void) const QString Vehicle::firmwareTypeString() const
{ {
if (px4Firmware()) { if (px4Firmware()) {
return QStringLiteral("PX4 Pro"); return QStringLiteral("PX4 Pro");
...@@ -610,7 +610,7 @@ QString Vehicle::firmwareTypeString(void) const ...@@ -610,7 +610,7 @@ QString Vehicle::firmwareTypeString(void) const
} }
} }
QString Vehicle::vehicleTypeString(void) const QString Vehicle::vehicleTypeString() const
{ {
if (fixedWing()) { if (fixedWing()) {
return tr("Fixed Wing"); return tr("Fixed Wing");
...@@ -892,7 +892,7 @@ void Vehicle::_handleOrbitExecutionStatus(const mavlink_message_t& message) ...@@ -892,7 +892,7 @@ void Vehicle::_handleOrbitExecutionStatus(const mavlink_message_t& message)
_orbitTelemetryTimer.start(_orbitTelemetryTimeoutMsecs); _orbitTelemetryTimer.start(_orbitTelemetryTimeoutMsecs);
} }
void Vehicle::_orbitTelemetryTimeout(void) void Vehicle::_orbitTelemetryTimeout()
{ {
_orbitActive = false; _orbitActive = false;
emit orbitActiveChanged(false); emit orbitActiveChanged(false);
...@@ -1524,7 +1524,7 @@ void Vehicle::_handleWind(mavlink_message_t& message) ...@@ -1524,7 +1524,7 @@ void Vehicle::_handleWind(mavlink_message_t& message)
} }
#endif #endif
bool Vehicle::_apmArmingNotRequired(void) bool Vehicle::_apmArmingNotRequired()
{ {
QString armingRequireParam("ARMING_REQUIRE"); QString armingRequireParam("ARMING_REQUIRE");
return _parameterManager->parameterExists(FactSystem::defaultComponentId, armingRequireParam) && return _parameterManager->parameterExists(FactSystem::defaultComponentId, armingRequireParam) &&
...@@ -1546,7 +1546,7 @@ void Vehicle::_handleSysStatus(mavlink_message_t& message) ...@@ -1546,7 +1546,7 @@ void Vehicle::_handleSysStatus(mavlink_message_t& message)
_battery1FactGroup.voltage()->setRawValue(VehicleBatteryFactGroup::_voltageUnavailable); _battery1FactGroup.voltage()->setRawValue(VehicleBatteryFactGroup::_voltageUnavailable);
} else { } else {
_battery1FactGroup.voltage()->setRawValue((double)sysStatus.voltage_battery / 1000.0); _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.instantPower()->setRawValue((float)(sysStatus.current_battery*sysStatus.voltage_battery)/(100000.0));
} }
_battery1FactGroup.percentRemaining()->setRawValue(sysStatus.battery_remaining); _battery1FactGroup.percentRemaining()->setRawValue(sysStatus.battery_remaining);
...@@ -1601,7 +1601,7 @@ void Vehicle::_handleBatteryStatus(mavlink_message_t& message) ...@@ -1601,7 +1601,7 @@ void Vehicle::_handleBatteryStatus(mavlink_message_t& message)
if (bat_status.temperature == INT16_MAX) { if (bat_status.temperature == INT16_MAX) {
batteryFactGroup.temperature()->setRawValue(VehicleBatteryFactGroup::_temperatureUnavailable); batteryFactGroup.temperature()->setRawValue(VehicleBatteryFactGroup::_temperatureUnavailable);
} else { } else {
batteryFactGroup.temperature()->setRawValue((double)bat_status.temperature / 100.0); batteryFactGroup.temperature()->setRawValue(static_cast<double>(bat_status.temperature)/100.0);
} }
if (bat_status.current_consumed == -1) { if (bat_status.current_consumed == -1) {
batteryFactGroup.mahConsumed()->setRawValue(VehicleBatteryFactGroup::_mahConsumedUnavailable); batteryFactGroup.mahConsumed()->setRawValue(VehicleBatteryFactGroup::_mahConsumedUnavailable);
...@@ -1731,7 +1731,7 @@ void Vehicle::_handleHeartbeat(mavlink_message_t& message) ...@@ -1731,7 +1731,7 @@ void Vehicle::_handleHeartbeat(mavlink_message_t& message)
// bad modes while unit testing. // bad modes while unit testing.
previousFlightMode = flightMode(); previousFlightMode = flightMode();
} }
_base_mode = heartbeat.base_mode; _base_mode = heartbeat.base_mode;
_custom_mode = heartbeat.custom_mode; _custom_mode = heartbeat.custom_mode;
if (previousFlightMode != flightMode()) { if (previousFlightMode != flightMode()) {
emit flightModeChanged(flightMode()); emit flightModeChanged(flightMode());
...@@ -2080,7 +2080,7 @@ void Vehicle::_updatePriorityLink(bool updateActive, bool sendCommand) ...@@ -2080,7 +2080,7 @@ void Vehicle::_updatePriorityLink(bool updateActive, bool sendCommand)
} }
} }
int Vehicle::motorCount(void) int Vehicle::motorCount()
{ {
switch (_vehicleType) { switch (_vehicleType) {
case MAV_TYPE_HELICOPTER: case MAV_TYPE_HELICOPTER:
...@@ -2142,12 +2142,12 @@ int Vehicle::motorCount(void) ...@@ -2142,12 +2142,12 @@ int Vehicle::motorCount(void)
} }
} }
bool Vehicle::coaxialMotors(void) bool Vehicle::coaxialMotors()
{ {
return _firmwarePlugin->multiRotorCoaxialMotors(this); return _firmwarePlugin->multiRotorCoaxialMotors(this);
} }
bool Vehicle::xConfigMotors(void) bool Vehicle::xConfigMotors()
{ {
return _firmwarePlugin->multiRotorXConfig(this); return _firmwarePlugin->multiRotorXConfig(this);
} }
...@@ -2258,7 +2258,7 @@ void Vehicle::resetMessages() ...@@ -2258,7 +2258,7 @@ void Vehicle::resetMessages()
} }
} }
void Vehicle::_loadSettings(void) void Vehicle::_loadSettings()
{ {
if (!_active) { if (!_active) {
return; return;
...@@ -2277,7 +2277,7 @@ void Vehicle::_loadSettings(void) ...@@ -2277,7 +2277,7 @@ void Vehicle::_loadSettings(void)
} }
} }
void Vehicle::_saveSettings(void) void Vehicle::_saveSettings()
{ {
QSettings settings; QSettings settings;
...@@ -2292,7 +2292,7 @@ void Vehicle::_saveSettings(void) ...@@ -2292,7 +2292,7 @@ void Vehicle::_saveSettings(void)
} }
} }
int Vehicle::joystickMode(void) int Vehicle::joystickMode()
{ {
return _joystickMode; return _joystickMode;
} }
...@@ -2309,7 +2309,7 @@ void Vehicle::setJoystickMode(int mode) ...@@ -2309,7 +2309,7 @@ void Vehicle::setJoystickMode(int mode)
emit joystickModeChanged(mode); emit joystickModeChanged(mode);
} }
QStringList Vehicle::joystickModes(void) QStringList Vehicle::joystickModes()
{ {
QStringList list; QStringList list;
...@@ -2318,7 +2318,7 @@ QStringList Vehicle::joystickModes(void) ...@@ -2318,7 +2318,7 @@ QStringList Vehicle::joystickModes(void)
return list; return list;
} }
bool Vehicle::joystickEnabled(void) bool Vehicle::joystickEnabled()
{ {
return _joystickEnabled; return _joystickEnabled;
} }
...@@ -2343,7 +2343,7 @@ void Vehicle::_startJoystick(bool start) ...@@ -2343,7 +2343,7 @@ void Vehicle::_startJoystick(bool start)
} }
} }
bool Vehicle::active(void) bool Vehicle::active()
{ {
return _active; return _active;
} }
...@@ -2357,7 +2357,7 @@ void Vehicle::setActive(bool active) ...@@ -2357,7 +2357,7 @@ void Vehicle::setActive(bool active)
} }
} }
QGeoCoordinate Vehicle::homePosition(void) QGeoCoordinate Vehicle::homePosition()
{ {
return _homePosition; return _homePosition;
} }
...@@ -2371,22 +2371,22 @@ void Vehicle::setArmed(bool armed) ...@@ -2371,22 +2371,22 @@ void Vehicle::setArmed(bool armed)
armed ? 1.0f : 0.0f); armed ? 1.0f : 0.0f);
} }
bool Vehicle::flightModeSetAvailable(void) bool Vehicle::flightModeSetAvailable()
{ {
return _firmwarePlugin->isCapable(this, FirmwarePlugin::SetFlightModeCapability); return _firmwarePlugin->isCapable(this, FirmwarePlugin::SetFlightModeCapability);
} }
QStringList Vehicle::flightModes(void) QStringList Vehicle::flightModes()
{ {
return _firmwarePlugin->flightModes(this); return _firmwarePlugin->flightModes(this);
} }
QStringList Vehicle::extraJoystickFlightModes(void) QStringList Vehicle::extraJoystickFlightModes()
{ {
return _firmwarePlugin->extraJoystickFlightModes(this); return _firmwarePlugin->extraJoystickFlightModes(this);
} }
QString Vehicle::flightMode(void) const QString Vehicle::flightMode() const
{ {
return _firmwarePlugin->flightMode(_base_mode, _custom_mode); return _firmwarePlugin->flightMode(_base_mode, _custom_mode);
} }
...@@ -2416,7 +2416,7 @@ void Vehicle::setFlightMode(const QString& flightMode) ...@@ -2416,7 +2416,7 @@ void Vehicle::setFlightMode(const QString& flightMode)
} }
} }
QString Vehicle::priorityLinkName(void) const QString Vehicle::priorityLinkName() const
{ {
if (_priorityLink) { if (_priorityLink) {
return _priorityLink->getName(); return _priorityLink->getName();
...@@ -2425,7 +2425,7 @@ QString Vehicle::priorityLinkName(void) const ...@@ -2425,7 +2425,7 @@ QString Vehicle::priorityLinkName(void) const
return "none"; return "none";
} }
QVariantList Vehicle::links(void) const { QVariantList Vehicle::links() const {
QVariantList ret; QVariantList ret;
for( const auto &item: _links ) for( const auto &item: _links )
...@@ -2463,7 +2463,7 @@ void Vehicle::setPriorityLinkByName(const QString& priorityLinkName) ...@@ -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; return _base_mode & MAV_MODE_FLAG_HIL_ENABLED;
} }
...@@ -2514,7 +2514,7 @@ void Vehicle::requestDataStream(MAV_DATA_STREAM stream, uint16_t rate, bool send ...@@ -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()) { if (_nextSendMessageMultipleIndex < _sendMessageMultipleList.count()) {
qCDebug(VehicleLog) << "_sendMessageMultipleNext:" << _sendMessageMultipleList[_nextSendMessageMultipleIndex].message.msgid; qCDebug(VehicleLog) << "_sendMessageMultipleNext:" << _sendMessageMultipleList[_nextSendMessageMultipleIndex].message.msgid;
...@@ -2561,12 +2561,12 @@ void Vehicle::_rallyPointManagerError(int errorCode, const QString& errorMsg) ...@@ -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)); qgcApp()->showMessage(tr("Rally Point transfer failed. Retry transfer. Error: %1").arg(errorMsg));
} }
void Vehicle::_clearCameraTriggerPoints(void) void Vehicle::_clearCameraTriggerPoints()
{ {
_cameraTriggerPoints.clearAndDeleteContents(); _cameraTriggerPoints.clearAndDeleteContents();
} }
void Vehicle::_flightTimerStart(void) void Vehicle::_flightTimerStart()
{ {
_flightTimer.start(); _flightTimer.start();
_flightTimeUpdater.start(); _flightTimeUpdater.start();
...@@ -2574,17 +2574,17 @@ void Vehicle::_flightTimerStart(void) ...@@ -2574,17 +2574,17 @@ void Vehicle::_flightTimerStart(void)
_flightTimeFact.setRawValue(0); _flightTimeFact.setRawValue(0);
} }
void Vehicle::_flightTimerStop(void) void Vehicle::_flightTimerStop()
{ {
_flightTimeUpdater.stop(); _flightTimeUpdater.stop();
} }
void Vehicle::_updateFlightTime(void) void Vehicle::_updateFlightTime()
{ {
_flightTimeFact.setRawValue((double)_flightTimer.elapsed() / 1000.0); _flightTimeFact.setRawValue((double)_flightTimer.elapsed() / 1000.0);
} }
void Vehicle::_startPlanRequest(void) void Vehicle::_startPlanRequest()
{ {
if (_missionManagerInitialRequestSent) { if (_missionManagerInitialRequestSent) {
// We have already started (or possibly completed) the sequence of requesting the plan for the first time // 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) ...@@ -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 // After the initial mission request completes we ask for the geofence
if (!_geoFenceManagerInitialRequestSent) { if (!_geoFenceManagerInitialRequestSent) {
...@@ -2637,7 +2637,7 @@ void Vehicle::_missionLoadComplete(void) ...@@ -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 // After geofence request completes we ask for the rally points
if (!_rallyPointManagerInitialRequestSent) { if (!_rallyPointManagerInitialRequestSent) {
...@@ -2652,7 +2652,7 @@ void Vehicle::_geoFenceLoadComplete(void) ...@@ -2652,7 +2652,7 @@ void Vehicle::_geoFenceLoadComplete(void)
} }
} }
void Vehicle::_rallyPointLoadComplete(void) void Vehicle::_rallyPointLoadComplete()
{ {
qCDebug(VehicleLog) << "_missionLoadComplete _initialPlanRequestComplete = true"; qCDebug(VehicleLog) << "_missionLoadComplete _initialPlanRequestComplete = true";
if (!_initialPlanRequestComplete) { if (!_initialPlanRequestComplete) {
...@@ -2674,7 +2674,7 @@ void Vehicle::_parametersReady(bool parametersReady) ...@@ -2674,7 +2674,7 @@ void Vehicle::_parametersReady(bool parametersReady)
} }
} }
void Vehicle::_sendQGCTimeToVehicle(void) void Vehicle::_sendQGCTimeToVehicle()
{ {
mavlink_message_t msg; mavlink_message_t msg;
mavlink_system_time_t cmd; mavlink_system_time_t cmd;
...@@ -2692,7 +2692,7 @@ void Vehicle::_sendQGCTimeToVehicle(void) ...@@ -2692,7 +2692,7 @@ void Vehicle::_sendQGCTimeToVehicle(void)
sendMessageOnLink(priorityLink(), msg); sendMessageOnLink(priorityLink(), msg);
} }
void Vehicle::disconnectInactiveVehicle(void) void Vehicle::disconnectInactiveVehicle()
{ {
// Vehicle is no longer communicating with us, disconnect all links // Vehicle is no longer communicating with us, disconnect all links
...@@ -2849,57 +2849,57 @@ void Vehicle::_say(const QString& text) ...@@ -2849,57 +2849,57 @@ void Vehicle::_say(const QString& text)
_toolbox->audioOutput()->say(text.toLower()); _toolbox->audioOutput()->say(text.toLower());
} }
bool Vehicle::fixedWing(void) const bool Vehicle::fixedWing() const
{ {
return QGCMAVLink::isFixedWing(vehicleType()); return QGCMAVLink::isFixedWing(vehicleType());
} }
bool Vehicle::rover(void) const bool Vehicle::rover() const
{ {
return QGCMAVLink::isRover(vehicleType()); return QGCMAVLink::isRover(vehicleType());
} }
bool Vehicle::sub(void) const bool Vehicle::sub() const
{ {
return QGCMAVLink::isSub(vehicleType()); return QGCMAVLink::isSub(vehicleType());
} }
bool Vehicle::multiRotor(void) const bool Vehicle::multiRotor() const
{ {
return QGCMAVLink::isMultiRotor(vehicleType()); return QGCMAVLink::isMultiRotor(vehicleType());
} }
bool Vehicle::vtol(void) const bool Vehicle::vtol() const
{ {
return _firmwarePlugin->isVtol(this); return _firmwarePlugin->isVtol(this);
} }
bool Vehicle::supportsThrottleModeCenterZero(void) const bool Vehicle::supportsThrottleModeCenterZero() const
{ {
return _firmwarePlugin->supportsThrottleModeCenterZero(); return _firmwarePlugin->supportsThrottleModeCenterZero();
} }
bool Vehicle::supportsNegativeThrust(void) bool Vehicle::supportsNegativeThrust()
{ {
return _firmwarePlugin->supportsNegativeThrust(this); return _firmwarePlugin->supportsNegativeThrust(this);
} }
bool Vehicle::supportsRadio(void) const bool Vehicle::supportsRadio() const
{ {
return _firmwarePlugin->supportsRadio(); return _firmwarePlugin->supportsRadio();
} }
bool Vehicle::supportsJSButton(void) const bool Vehicle::supportsJSButton() const
{ {
return _firmwarePlugin->supportsJSButton(); return _firmwarePlugin->supportsJSButton();
} }
bool Vehicle::supportsMotorInterference(void) const bool Vehicle::supportsMotorInterference() const
{ {
return _firmwarePlugin->supportsMotorInterference(); return _firmwarePlugin->supportsMotorInterference();
} }
bool Vehicle::supportsTerrainFrame(void) const bool Vehicle::supportsTerrainFrame() const
{ {
return _firmwarePlugin->supportsTerrainFrame(); return _firmwarePlugin->supportsTerrainFrame();
} }
...@@ -2939,7 +2939,7 @@ QString Vehicle::vehicleTypeName() const { ...@@ -2939,7 +2939,7 @@ QString Vehicle::vehicleTypeName() const {
} }
/// Returns the string to speak to identify the vehicle /// Returns the string to speak to identify the vehicle
QString Vehicle::_vehicleIdSpeech(void) QString Vehicle::_vehicleIdSpeech()
{ {
if (_toolbox->multiVehicleManager()->vehicles()->count() > 1) { if (_toolbox->multiVehicleManager()->vehicles()->count() > 1) {
return tr("vehicle %1").arg(id()); return tr("vehicle %1").arg(id());
...@@ -2980,12 +2980,12 @@ void Vehicle::_setLanding(bool landing) ...@@ -2980,12 +2980,12 @@ void Vehicle::_setLanding(bool landing)
} }
} }
bool Vehicle::guidedModeSupported(void) const bool Vehicle::guidedModeSupported() const
{ {
return _firmwarePlugin->isCapable(this, FirmwarePlugin::GuidedModeCapability); return _firmwarePlugin->isCapable(this, FirmwarePlugin::GuidedModeCapability);
} }
bool Vehicle::pauseVehicleSupported(void) const bool Vehicle::pauseVehicleSupported() const
{ {
return _firmwarePlugin->isCapable(this, FirmwarePlugin::PauseVehicleCapability); return _firmwarePlugin->isCapable(this, FirmwarePlugin::PauseVehicleCapability);
} }
...@@ -3019,7 +3019,7 @@ void Vehicle::guidedModeRTL(bool smartRTL) ...@@ -3019,7 +3019,7 @@ void Vehicle::guidedModeRTL(bool smartRTL)
_firmwarePlugin->guidedModeRTL(this, smartRTL); _firmwarePlugin->guidedModeRTL(this, smartRTL);
} }
void Vehicle::guidedModeLand(void) void Vehicle::guidedModeLand()
{ {
if (!guidedModeSupported()) { if (!guidedModeSupported()) {
qgcApp()->showMessage(guided_mode_not_supported_by_vehicle); qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
...@@ -3037,12 +3037,12 @@ void Vehicle::guidedModeTakeoff(double altitudeRelative) ...@@ -3037,12 +3037,12 @@ void Vehicle::guidedModeTakeoff(double altitudeRelative)
_firmwarePlugin->guidedModeTakeoff(this, altitudeRelative); _firmwarePlugin->guidedModeTakeoff(this, altitudeRelative);
} }
double Vehicle::minimumTakeoffAltitude(void) double Vehicle::minimumTakeoffAltitude()
{ {
return _firmwarePlugin->minimumTakeoffAltitude(this); return _firmwarePlugin->minimumTakeoffAltitude(this);
} }
void Vehicle::startMission(void) void Vehicle::startMission()
{ {
_firmwarePlugin->startMission(this); _firmwarePlugin->startMission(this);
} }
...@@ -3173,7 +3173,7 @@ void Vehicle::stopGuidedModeROI() ...@@ -3173,7 +3173,7 @@ void Vehicle::stopGuidedModeROI()
} }
} }
void Vehicle::pauseVehicle(void) void Vehicle::pauseVehicle()
{ {
if (!pauseVehicleSupported()) { if (!pauseVehicleSupported()) {
qgcApp()->showMessage(QStringLiteral("Pause not supported by vehicle.")); qgcApp()->showMessage(QStringLiteral("Pause not supported by vehicle."));
...@@ -3191,7 +3191,7 @@ void Vehicle::abortLanding(double climbOutAltitude) ...@@ -3191,7 +3191,7 @@ void Vehicle::abortLanding(double climbOutAltitude)
static_cast<float>(climbOutAltitude)); static_cast<float>(climbOutAltitude));
} }
bool Vehicle::guidedMode(void) const bool Vehicle::guidedMode() const
{ {
return _firmwarePlugin->isGuidedMode(this); return _firmwarePlugin->isGuidedMode(this);
} }
...@@ -3201,7 +3201,7 @@ void Vehicle::setGuidedMode(bool guidedMode) ...@@ -3201,7 +3201,7 @@ void Vehicle::setGuidedMode(bool guidedMode)
return _firmwarePlugin->setGuidedMode(this, guidedMode); return _firmwarePlugin->setGuidedMode(this, guidedMode);
} }
void Vehicle::emergencyStop(void) void Vehicle::emergencyStop()
{ {
sendMavCommand( sendMavCommand(
_defaultComponentId, _defaultComponentId,
...@@ -3277,7 +3277,7 @@ void Vehicle::sendMavCommandInt(int component, MAV_CMD command, MAV_FRAME frame, ...@@ -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()) { if(!_mavCommandQueue.size()) {
qWarning() << "Command resend with no commands in queue"; qWarning() << "Command resend with no commands in queue";
...@@ -3364,7 +3364,7 @@ void Vehicle::_sendMavCommandAgain(void) ...@@ -3364,7 +3364,7 @@ void Vehicle::_sendMavCommandAgain(void)
sendMessageOnLink(priorityLink(), msg); sendMessageOnLink(priorityLink(), msg);
} }
void Vehicle::_sendNextQueuedMavCommand(void) void Vehicle::_sendNextQueuedMavCommand()
{ {
if (_mavCommandQueue.count()) { if (_mavCommandQueue.count()) {
_mavCommandRetryCount = 0; _mavCommandRetryCount = 0;
...@@ -3372,7 +3372,7 @@ void Vehicle::_sendNextQueuedMavCommand(void) ...@@ -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 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. // we never received an Ack back for the command.
...@@ -3395,7 +3395,7 @@ void Vehicle::_handleUnsupportedRequestProtocolVersion(void) ...@@ -3395,7 +3395,7 @@ void Vehicle::_handleUnsupportedRequestProtocolVersion(void)
_startPlanRequest(); _startPlanRequest();
} }
void Vehicle::_protocolVersionTimeOut(void) void Vehicle::_protocolVersionTimeOut()
{ {
// The PROTOCOL_VERSION message didn't make it through the pipe from Vehicle->QGC. // 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. // This means although the vehicle may support mavlink 2, the pipe does not.
...@@ -3405,7 +3405,7 @@ void Vehicle::_protocolVersionTimeOut(void) ...@@ -3405,7 +3405,7 @@ void Vehicle::_protocolVersionTimeOut(void)
_startPlanRequest(); _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 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. // we never received an Ack back for the command.
...@@ -3502,7 +3502,7 @@ void Vehicle::setPrearmError(const QString& prearmError) ...@@ -3502,7 +3502,7 @@ void Vehicle::setPrearmError(const QString& prearmError)
} }
} }
void Vehicle::_prearmErrorTimeout(void) void Vehicle::_prearmErrorTimeout()
{ {
setPrearmError(QString()); setPrearmError(QString());
} }
...@@ -3524,7 +3524,7 @@ void Vehicle::setFirmwareCustomVersion(int majorVersion, int minorVersion, int p ...@@ -3524,7 +3524,7 @@ void Vehicle::setFirmwareCustomVersion(int majorVersion, int minorVersion, int p
emit firmwareCustomVersionChanged(); emit firmwareCustomVersionChanged();
} }
QString Vehicle::firmwareVersionTypeString(void) const QString Vehicle::firmwareVersionTypeString() const
{ {
switch (_firmwareVersionType) { switch (_firmwareVersionType) {
case FIRMWARE_VERSION_TYPE_DEV: case FIRMWARE_VERSION_TYPE_DEV:
...@@ -3576,17 +3576,17 @@ void Vehicle::motorTest(int motor, int percent, int timeoutSecs) ...@@ -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); 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); return _firmwarePlugin->brandImageIndoor(this);
} }
QString Vehicle::brandImageOutdoor(void) const QString Vehicle::brandImageOutdoor() const
{ {
return _firmwarePlugin->brandImageOutdoor(this); return _firmwarePlugin->brandImageOutdoor(this);
} }
QStringList Vehicle::unhealthySensors(void) const QStringList Vehicle::unhealthySensors() const
{ {
QStringList sensorList; QStringList sensorList;
...@@ -3643,7 +3643,7 @@ void Vehicle::setOfflineEditingDefaultComponentId(int defaultComponentId) ...@@ -3643,7 +3643,7 @@ void Vehicle::setOfflineEditingDefaultComponentId(int defaultComponentId)
} }
} }
void Vehicle::triggerCamera(void) void Vehicle::triggerCamera()
{ {
sendMavCommand(_defaultComponentId, sendMavCommand(_defaultComponentId,
MAV_CMD_DO_DIGICAM_CONTROL, MAV_CMD_DO_DIGICAM_CONTROL,
...@@ -3752,42 +3752,42 @@ void Vehicle::setFirmwarePluginInstanceData(QObject* firmwarePluginInstanceData) ...@@ -3752,42 +3752,42 @@ void Vehicle::setFirmwarePluginInstanceData(QObject* firmwarePluginInstanceData)
_firmwarePluginInstanceData = firmwarePluginInstanceData; _firmwarePluginInstanceData = firmwarePluginInstanceData;
} }
QString Vehicle::missionFlightMode(void) const QString Vehicle::missionFlightMode() const
{ {
return _firmwarePlugin->missionFlightMode(); return _firmwarePlugin->missionFlightMode();
} }
QString Vehicle::pauseFlightMode(void) const QString Vehicle::pauseFlightMode() const
{ {
return _firmwarePlugin->pauseFlightMode(); return _firmwarePlugin->pauseFlightMode();
} }
QString Vehicle::rtlFlightMode(void) const QString Vehicle::rtlFlightMode() const
{ {
return _firmwarePlugin->rtlFlightMode(); return _firmwarePlugin->rtlFlightMode();
} }
QString Vehicle::smartRTLFlightMode(void) const QString Vehicle::smartRTLFlightMode() const
{ {
return _firmwarePlugin->smartRTLFlightMode(); return _firmwarePlugin->smartRTLFlightMode();
} }
bool Vehicle::supportsSmartRTL(void) const bool Vehicle::supportsSmartRTL() const
{ {
return _firmwarePlugin->supportsSmartRTL(); return _firmwarePlugin->supportsSmartRTL();
} }
QString Vehicle::landFlightMode(void) const QString Vehicle::landFlightMode() const
{ {
return _firmwarePlugin->landFlightMode(); return _firmwarePlugin->landFlightMode();
} }
QString Vehicle::takeControlFlightMode(void) const QString Vehicle::takeControlFlightMode() const
{ {
return _firmwarePlugin->takeControlFlightMode(); return _firmwarePlugin->takeControlFlightMode();
} }
QString Vehicle::followFlightMode(void) const QString Vehicle::followFlightMode() const
{ {
return _firmwarePlugin->followFlightMode(); return _firmwarePlugin->followFlightMode();
} }
...@@ -3825,7 +3825,7 @@ const QVariantList& Vehicle::toolBarIndicators() ...@@ -3825,7 +3825,7 @@ const QVariantList& Vehicle::toolBarIndicators()
return emptyList; return emptyList;
} }
const QVariantList& Vehicle::staticCameraList(void) const const QVariantList& Vehicle::staticCameraList() const
{ {
if (_firmwarePlugin) { if (_firmwarePlugin) {
return _firmwarePlugin->cameraList(this); return _firmwarePlugin->cameraList(this);
...@@ -3834,12 +3834,12 @@ const QVariantList& Vehicle::staticCameraList(void) const ...@@ -3834,12 +3834,12 @@ const QVariantList& Vehicle::staticCameraList(void) const
return emptyList; return emptyList;
} }
bool Vehicle::vehicleYawsToNextWaypointInMission(void) const bool Vehicle::vehicleYawsToNextWaypointInMission() const
{ {
return _firmwarePlugin->vehicleYawsToNextWaypointInMission(this); return _firmwarePlugin->vehicleYawsToNextWaypointInMission(this);
} }
void Vehicle::_setupAutoDisarmSignalling(void) void Vehicle::_setupAutoDisarmSignalling()
{ {
QString param = _firmwarePlugin->autoDisarmParameter(this); QString param = _firmwarePlugin->autoDisarmParameter(this);
...@@ -3850,7 +3850,7 @@ void Vehicle::_setupAutoDisarmSignalling(void) ...@@ -3850,7 +3850,7 @@ void Vehicle::_setupAutoDisarmSignalling(void)
} }
} }
bool Vehicle::autoDisarm(void) bool Vehicle::autoDisarm()
{ {
QString param = _firmwarePlugin->autoDisarmParameter(this); QString param = _firmwarePlugin->autoDisarmParameter(this);
...@@ -3893,7 +3893,7 @@ void Vehicle::_handleADSBVehicle(const mavlink_message_t& message) ...@@ -3893,7 +3893,7 @@ void Vehicle::_handleADSBVehicle(const mavlink_message_t& message)
} }
} }
void Vehicle::_updateDistanceHeadingToHome(void) void Vehicle::_updateDistanceHeadingToHome()
{ {
if (coordinate().isValid() && homePosition().isValid()) { if (coordinate().isValid() && homePosition().isValid()) {
_distanceToHomeFact.setRawValue(coordinate().distanceTo(homePosition())); _distanceToHomeFact.setRawValue(coordinate().distanceTo(homePosition()));
...@@ -3908,7 +3908,7 @@ void Vehicle::_updateDistanceHeadingToHome(void) ...@@ -3908,7 +3908,7 @@ void Vehicle::_updateDistanceHeadingToHome(void)
} }
} }
void Vehicle::_updateHeadingToNextWP(void) void Vehicle::_updateHeadingToNextWP()
{ {
const int _currentIndex = _missionManager->currentIndex(); const int _currentIndex = _missionManager->currentIndex();
MissionItem _currentItem; MissionItem _currentItem;
...@@ -3925,7 +3925,7 @@ void Vehicle::_updateHeadingToNextWP(void) ...@@ -3925,7 +3925,7 @@ void Vehicle::_updateHeadingToNextWP(void)
} }
} }
void Vehicle::_updateDistanceToGCS(void) void Vehicle::_updateDistanceToGCS()
{ {
QGeoCoordinate gcsPosition = _toolbox->qgcPositionManager()->gcsPosition(); QGeoCoordinate gcsPosition = _toolbox->qgcPositionManager()->gcsPosition();
if (coordinate().isValid() && gcsPosition.isValid()) { if (coordinate().isValid() && gcsPosition.isValid()) {
...@@ -3935,12 +3935,12 @@ void Vehicle::_updateDistanceToGCS(void) ...@@ -3935,12 +3935,12 @@ void Vehicle::_updateDistanceToGCS(void)
} }
} }
void Vehicle::_updateHobbsMeter(void) void Vehicle::_updateHobbsMeter()
{ {
_hobbsFact.setRawValue(hobbsMeter()); _hobbsFact.setRawValue(hobbsMeter());
} }
void Vehicle::forceInitialPlanRequestComplete(void) void Vehicle::forceInitialPlanRequestComplete()
{ {
_initialPlanRequestComplete = true; _initialPlanRequestComplete = true;
emit initialPlanRequestCompleteChanged(true); emit initialPlanRequestCompleteChanged(true);
...@@ -4163,7 +4163,7 @@ void Vehicle::_writeCsvLine() ...@@ -4163,7 +4163,7 @@ void Vehicle::_writeCsvLine()
} }
#if !defined(NO_ARDUPILOT_DIALECT) #if !defined(NO_ARDUPILOT_DIALECT)
void Vehicle::flashBootloader(void) void Vehicle::flashBootloader()
{ {
sendMavCommand(defaultComponentId(), sendMavCommand(defaultComponentId(),
MAV_CMD_FLASH_BOOTLOADER, MAV_CMD_FLASH_BOOTLOADER,
...@@ -4239,9 +4239,9 @@ void Vehicle::_handleGimbalOrientation(const mavlink_message_t& message) ...@@ -4239,9 +4239,9 @@ void Vehicle::_handleGimbalOrientation(const mavlink_message_t& message)
void Vehicle::_handleObstacleDistance(const mavlink_message_t& message) void Vehicle::_handleObstacleDistance(const mavlink_message_t& message)
{ {
mavlink_obstacle_distance_t o; mavlink_obstacle_distance_t o;
mavlink_msg_obstacle_distance_decode(&message, &o); mavlink_msg_obstacle_distance_decode(&message, &o);
_objectAvoidance->update(&o); _objectAvoidance->update(&o);
} }
void Vehicle::updateFlightDistance(double distance) void Vehicle::updateFlightDistance(double distance)
...@@ -4389,7 +4389,7 @@ VehicleClockFactGroup::VehicleClockFactGroup(QObject* parent) ...@@ -4389,7 +4389,7 @@ VehicleClockFactGroup::VehicleClockFactGroup(QObject* parent)
_currentDateFact.setRawValue (std::numeric_limits<float>::quiet_NaN()); _currentDateFact.setRawValue (std::numeric_limits<float>::quiet_NaN());
} }
void VehicleClockFactGroup::_updateAllValues(void) void VehicleClockFactGroup::_updateAllValues()
{ {
_currentTimeFact.setRawValue(QTime::currentTime().toString()); _currentTimeFact.setRawValue(QTime::currentTime().toString());
_currentDateFact.setRawValue(QDateTime::currentDateTime().toString(QLocale::system().dateFormat(QLocale::ShortFormat))); _currentDateFact.setRawValue(QDateTime::currentDateTime().toString(QLocale::system().dateFormat(QLocale::ShortFormat)));
......
src/Vehicle/Vehicle.h
View file @ 2894ffb6
...@@ -65,16 +65,16 @@ public: ...@@ -65,16 +65,16 @@ public:
Q_PROPERTY(Fact* rotationPitch90 READ rotationPitch90 CONSTANT) Q_PROPERTY(Fact* rotationPitch90 READ rotationPitch90 CONSTANT)
Q_PROPERTY(Fact* rotationPitch270 READ rotationPitch270 CONSTANT) Q_PROPERTY(Fact* rotationPitch270 READ rotationPitch270 CONSTANT)
Fact* rotationNone (void) { return &_rotationNoneFact; } Fact* rotationNone () { return &_rotationNoneFact; }
Fact* rotationYaw45 (void) { return &_rotationYaw45Fact; } Fact* rotationYaw45 () { return &_rotationYaw45Fact; }
Fact* rotationYaw90 (void) { return &_rotationYaw90Fact; } Fact* rotationYaw90 () { return &_rotationYaw90Fact; }
Fact* rotationYaw135 (void) { return &_rotationYaw90Fact; } Fact* rotationYaw135 () { return &_rotationYaw90Fact; }
Fact* rotationYaw180 (void) { return &_rotationYaw180Fact; } Fact* rotationYaw180 () { return &_rotationYaw180Fact; }
Fact* rotationYaw225 (void) { return &_rotationYaw180Fact; } Fact* rotationYaw225 () { return &_rotationYaw180Fact; }
Fact* rotationYaw270 (void) { return &_rotationYaw270Fact; } Fact* rotationYaw270 () { return &_rotationYaw270Fact; }
Fact* rotationYaw315 (void) { return &_rotationYaw315Fact; } Fact* rotationYaw315 () { return &_rotationYaw315Fact; }
Fact* rotationPitch90 (void) { return &_rotationPitch90Fact; } Fact* rotationPitch90 () { return &_rotationPitch90Fact; }
Fact* rotationPitch270 (void) { return &_rotationPitch270Fact; } Fact* rotationPitch270 () { return &_rotationPitch270Fact; }
static const char* _rotationNoneFactName; static const char* _rotationNoneFactName;
static const char* _rotationYaw45FactName; static const char* _rotationYaw45FactName;
...@@ -114,12 +114,12 @@ public: ...@@ -114,12 +114,12 @@ public:
Q_PROPERTY(Fact* pitchRate READ pitchRate CONSTANT) Q_PROPERTY(Fact* pitchRate READ pitchRate CONSTANT)
Q_PROPERTY(Fact* yawRate READ yawRate CONSTANT) Q_PROPERTY(Fact* yawRate READ yawRate CONSTANT)
Fact* roll (void) { return &_rollFact; } Fact* roll () { return &_rollFact; }
Fact* pitch (void) { return &_pitchFact; } Fact* pitch () { return &_pitchFact; }
Fact* yaw (void) { return &_yawFact; } Fact* yaw () { return &_yawFact; }
Fact* rollRate (void) { return &_rollRateFact; } Fact* rollRate () { return &_rollRateFact; }
Fact* pitchRate (void) { return &_pitchRateFact; } Fact* pitchRate () { return &_pitchRateFact; }
Fact* yawRate (void) { return &_yawRateFact; } Fact* yawRate () { return &_yawRateFact; }
static const char* _rollFactName; static const char* _rollFactName;
static const char* _pitchFactName; static const char* _pitchFactName;
...@@ -151,12 +151,12 @@ public: ...@@ -151,12 +151,12 @@ public:
Q_PROPERTY(Fact* clipCount2 READ clipCount2 CONSTANT) Q_PROPERTY(Fact* clipCount2 READ clipCount2 CONSTANT)
Q_PROPERTY(Fact* clipCount3 READ clipCount3 CONSTANT) Q_PROPERTY(Fact* clipCount3 READ clipCount3 CONSTANT)
Fact* xAxis (void) { return &_xAxisFact; } Fact* xAxis () { return &_xAxisFact; }
Fact* yAxis (void) { return &_yAxisFact; } Fact* yAxis () { return &_yAxisFact; }
Fact* zAxis (void) { return &_zAxisFact; } Fact* zAxis () { return &_zAxisFact; }
Fact* clipCount1 (void) { return &_clipCount1Fact; } Fact* clipCount1 () { return &_clipCount1Fact; }
Fact* clipCount2 (void) { return &_clipCount2Fact; } Fact* clipCount2 () { return &_clipCount2Fact; }
Fact* clipCount3 (void) { return &_clipCount3Fact; } Fact* clipCount3 () { return &_clipCount3Fact; }
static const char* _xAxisFactName; static const char* _xAxisFactName;
static const char* _yAxisFactName; static const char* _yAxisFactName;
...@@ -185,9 +185,9 @@ public: ...@@ -185,9 +185,9 @@ public:
Q_PROPERTY(Fact* speed READ speed CONSTANT) Q_PROPERTY(Fact* speed READ speed CONSTANT)
Q_PROPERTY(Fact* verticalSpeed READ verticalSpeed CONSTANT) Q_PROPERTY(Fact* verticalSpeed READ verticalSpeed CONSTANT)
Fact* direction (void) { return &_directionFact; } Fact* direction () { return &_directionFact; }
Fact* speed (void) { return &_speedFact; } Fact* speed () { return &_speedFact; }
Fact* verticalSpeed (void) { return &_verticalSpeedFact; } Fact* verticalSpeed () { return &_verticalSpeedFact; }
static const char* _directionFactName; static const char* _directionFactName;
static const char* _speedFactName; static const char* _speedFactName;
...@@ -215,14 +215,14 @@ public: ...@@ -215,14 +215,14 @@ public:
Q_PROPERTY(Fact* count READ count CONSTANT) Q_PROPERTY(Fact* count READ count CONSTANT)
Q_PROPERTY(Fact* lock READ lock CONSTANT) Q_PROPERTY(Fact* lock READ lock CONSTANT)
Fact* lat (void) { return &_latFact; } Fact* lat () { return &_latFact; }
Fact* lon (void) { return &_lonFact; } Fact* lon () { return &_lonFact; }
Fact* mgrs (void) { return &_mgrsFact; } Fact* mgrs () { return &_mgrsFact; }
Fact* hdop (void) { return &_hdopFact; } Fact* hdop () { return &_hdopFact; }
Fact* vdop (void) { return &_vdopFact; } Fact* vdop () { return &_vdopFact; }
Fact* courseOverGround (void) { return &_courseOverGroundFact; } Fact* courseOverGround () { return &_courseOverGroundFact; }
Fact* count (void) { return &_countFact; } Fact* count () { return &_countFact; }
Fact* lock (void) { return &_lockFact; } Fact* lock () { return &_lockFact; }
static const char* _latFactName; static const char* _latFactName;
static const char* _lonFactName; static const char* _lonFactName;
...@@ -261,15 +261,15 @@ public: ...@@ -261,15 +261,15 @@ public:
Q_PROPERTY(Fact* timeRemaining READ timeRemaining CONSTANT) Q_PROPERTY(Fact* timeRemaining READ timeRemaining CONSTANT)
Q_PROPERTY(Fact* chargeState READ chargeState CONSTANT) Q_PROPERTY(Fact* chargeState READ chargeState CONSTANT)
Fact* voltage (void) { return &_voltageFact; } Fact* voltage () { return &_voltageFact; }
Fact* percentRemaining (void) { return &_percentRemainingFact; } Fact* percentRemaining () { return &_percentRemainingFact; }
Fact* mahConsumed (void) { return &_mahConsumedFact; } Fact* mahConsumed () { return &_mahConsumedFact; }
Fact* current (void) { return &_currentFact; } Fact* current () { return &_currentFact; }
Fact* temperature (void) { return &_temperatureFact; } Fact* temperature () { return &_temperatureFact; }
Fact* cellCount (void) { return &_cellCountFact; } Fact* cellCount () { return &_cellCountFact; }
Fact* instantPower (void) { return &_instantPowerFact; } Fact* instantPower () { return &_instantPowerFact; }
Fact* timeRemaining (void) { return &_timeRemainingFact; } Fact* timeRemaining () { return &_timeRemainingFact; }
Fact* chargeState (void) { return &_chargeStateFact; } Fact* chargeState () { return &_chargeStateFact; }
static const char* _voltageFactName; static const char* _voltageFactName;
static const char* _percentRemainingFactName; static const char* _percentRemainingFactName;
...@@ -314,9 +314,9 @@ public: ...@@ -314,9 +314,9 @@ public:
Q_PROPERTY(Fact* temperature2 READ temperature2 CONSTANT) Q_PROPERTY(Fact* temperature2 READ temperature2 CONSTANT)
Q_PROPERTY(Fact* temperature3 READ temperature3 CONSTANT) Q_PROPERTY(Fact* temperature3 READ temperature3 CONSTANT)
Fact* temperature1 (void) { return &_temperature1Fact; } Fact* temperature1 () { return &_temperature1Fact; }
Fact* temperature2 (void) { return &_temperature2Fact; } Fact* temperature2 () { return &_temperature2Fact; }
Fact* temperature3 (void) { return &_temperature3Fact; } Fact* temperature3 () { return &_temperature3Fact; }
static const char* _temperature1FactName; static const char* _temperature1FactName;
static const char* _temperature2FactName; static const char* _temperature2FactName;
...@@ -342,8 +342,8 @@ public: ...@@ -342,8 +342,8 @@ public:
Q_PROPERTY(Fact* currentTime READ currentTime CONSTANT) Q_PROPERTY(Fact* currentTime READ currentTime CONSTANT)
Q_PROPERTY(Fact* currentDate READ currentDate CONSTANT) Q_PROPERTY(Fact* currentDate READ currentDate CONSTANT)
Fact* currentTime (void) { return &_currentTimeFact; } Fact* currentTime () { return &_currentTimeFact; }
Fact* currentDate (void) { return &_currentDateFact; } Fact* currentDate () { return &_currentDateFact; }
static const char* _currentTimeFactName; static const char* _currentTimeFactName;
static const char* _currentDateFactName; static const char* _currentDateFactName;
...@@ -351,7 +351,7 @@ public: ...@@ -351,7 +351,7 @@ public:
static const char* _settingsGroup; static const char* _settingsGroup;
private slots: private slots:
void _updateAllValues(void) override; void _updateAllValues() override;
private: private:
Fact _currentTimeFact; Fact _currentTimeFact;
...@@ -386,26 +386,26 @@ public: ...@@ -386,26 +386,26 @@ public:
Q_PROPERTY(Fact* horizPosAccuracy READ horizPosAccuracy CONSTANT) Q_PROPERTY(Fact* horizPosAccuracy READ horizPosAccuracy CONSTANT)
Q_PROPERTY(Fact* vertPosAccuracy READ vertPosAccuracy CONSTANT) Q_PROPERTY(Fact* vertPosAccuracy READ vertPosAccuracy CONSTANT)
Fact* goodAttitudeEstimate (void) { return &_goodAttitudeEstimateFact; } Fact* goodAttitudeEstimate () { return &_goodAttitudeEstimateFact; }
Fact* goodHorizVelEstimate (void) { return &_goodHorizVelEstimateFact; } Fact* goodHorizVelEstimate () { return &_goodHorizVelEstimateFact; }
Fact* goodVertVelEstimate (void) { return &_goodVertVelEstimateFact; } Fact* goodVertVelEstimate () { return &_goodVertVelEstimateFact; }
Fact* goodHorizPosRelEstimate (void) { return &_goodHorizPosRelEstimateFact; } Fact* goodHorizPosRelEstimate () { return &_goodHorizPosRelEstimateFact; }
Fact* goodHorizPosAbsEstimate (void) { return &_goodHorizPosAbsEstimateFact; } Fact* goodHorizPosAbsEstimate () { return &_goodHorizPosAbsEstimateFact; }
Fact* goodVertPosAbsEstimate (void) { return &_goodVertPosAbsEstimateFact; } Fact* goodVertPosAbsEstimate () { return &_goodVertPosAbsEstimateFact; }
Fact* goodVertPosAGLEstimate (void) { return &_goodVertPosAGLEstimateFact; } Fact* goodVertPosAGLEstimate () { return &_goodVertPosAGLEstimateFact; }
Fact* goodConstPosModeEstimate (void) { return &_goodConstPosModeEstimateFact; } Fact* goodConstPosModeEstimate () { return &_goodConstPosModeEstimateFact; }
Fact* goodPredHorizPosRelEstimate (void) { return &_goodPredHorizPosRelEstimateFact; } Fact* goodPredHorizPosRelEstimate () { return &_goodPredHorizPosRelEstimateFact; }
Fact* goodPredHorizPosAbsEstimate (void) { return &_goodPredHorizPosAbsEstimateFact; } Fact* goodPredHorizPosAbsEstimate () { return &_goodPredHorizPosAbsEstimateFact; }
Fact* gpsGlitch (void) { return &_gpsGlitchFact; } Fact* gpsGlitch () { return &_gpsGlitchFact; }
Fact* accelError (void) { return &_accelErrorFact; } Fact* accelError () { return &_accelErrorFact; }
Fact* velRatio (void) { return &_velRatioFact; } Fact* velRatio () { return &_velRatioFact; }
Fact* horizPosRatio (void) { return &_horizPosRatioFact; } Fact* horizPosRatio () { return &_horizPosRatioFact; }
Fact* vertPosRatio (void) { return &_vertPosRatioFact; } Fact* vertPosRatio () { return &_vertPosRatioFact; }
Fact* magRatio (void) { return &_magRatioFact; } Fact* magRatio () { return &_magRatioFact; }
Fact* haglRatio (void) { return &_haglRatioFact; } Fact* haglRatio () { return &_haglRatioFact; }
Fact* tasRatio (void) { return &_tasRatioFact; } Fact* tasRatio () { return &_tasRatioFact; }
Fact* horizPosAccuracy (void) { return &_horizPosAccuracyFact; } Fact* horizPosAccuracy () { return &_horizPosAccuracyFact; }
Fact* vertPosAccuracy (void) { return &_vertPosAccuracyFact; } Fact* vertPosAccuracy () { return &_vertPosAccuracyFact; }
static const char* _goodAttitudeEstimateFactName; static const char* _goodAttitudeEstimateFactName;
static const char* _goodHorizVelEstimateFactName; static const char* _goodHorizVelEstimateFactName;
...@@ -534,6 +534,13 @@ public: ...@@ -534,6 +534,13 @@ public:
}; };
Q_ENUM(MavlinkSysStatus) Q_ENUM(MavlinkSysStatus)
enum CheckList {
CheckListNotSetup = 0,
CheckListPassed,
CheckListFailed,
};
Q_ENUM(CheckList)
Q_PROPERTY(int id READ id CONSTANT) Q_PROPERTY(int id READ id CONSTANT)
Q_PROPERTY(AutoPilotPlugin* autopilot MEMBER _autopilotPlugin CONSTANT) Q_PROPERTY(AutoPilotPlugin* autopilot MEMBER _autopilotPlugin CONSTANT)
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate NOTIFY coordinateChanged) Q_PROPERTY(QGeoCoordinate coordinate READ coordinate NOTIFY coordinateChanged)
...@@ -637,6 +644,7 @@ public: ...@@ -637,6 +644,7 @@ public:
Q_PROPERTY(qreal gimbalYaw READ gimbalYaw NOTIFY gimbalYawChanged) Q_PROPERTY(qreal gimbalYaw READ gimbalYaw NOTIFY gimbalYawChanged)
Q_PROPERTY(bool gimbalData READ gimbalData NOTIFY gimbalDataChanged) Q_PROPERTY(bool gimbalData READ gimbalData NOTIFY gimbalDataChanged)
Q_PROPERTY(bool isROIEnabled READ isROIEnabled NOTIFY isROIEnabledChanged) 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 // The following properties relate to Orbit status
Q_PROPERTY(bool orbitActive READ orbitActive NOTIFY orbitActiveChanged) Q_PROPERTY(bool orbitActive READ orbitActive NOTIFY orbitActiveChanged)
...@@ -706,19 +714,19 @@ public: ...@@ -706,19 +714,19 @@ public:
Q_INVOKABLE void resetMessages(); Q_INVOKABLE void resetMessages();
Q_INVOKABLE void virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust); 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 /// Command vehicle to return to launch
Q_INVOKABLE void guidedModeRTL(bool smartRTL); Q_INVOKABLE void guidedModeRTL(bool smartRTL);
/// Command vehicle to land at current location /// Command vehicle to land at current location
Q_INVOKABLE void guidedModeLand(void); Q_INVOKABLE void guidedModeLand();
/// Command vehicle to takeoff from current location /// Command vehicle to takeoff from current location
Q_INVOKABLE void guidedModeTakeoff(double altitudeRelative); Q_INVOKABLE void guidedModeTakeoff(double altitudeRelative);
/// @return The minimum takeoff altitude (relative) for guided takeoff. /// @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) /// Command vehicle to move to specified location (altitude is included and relative)
Q_INVOKABLE void guidedModeGotoLocation(const QGeoCoordinate& gotoCoord); Q_INVOKABLE void guidedModeGotoLocation(const QGeoCoordinate& gotoCoord);
...@@ -740,15 +748,15 @@ public: ...@@ -740,15 +748,15 @@ public:
/// Command vehicle to pause at current location. If vehicle supports guide mode, vehicle will be left /// Command vehicle to pause at current location. If vehicle supports guide mode, vehicle will be left
/// in guided mode after pause. /// in guided mode after pause.
Q_INVOKABLE void pauseVehicle(void); Q_INVOKABLE void pauseVehicle();
/// Command vehicle to kill all motors no matter what state /// Command vehicle to kill all motors no matter what state
Q_INVOKABLE void emergencyStop(void); Q_INVOKABLE void emergencyStop();
/// Command vehicle to abort landing /// Command vehicle to abort landing
Q_INVOKABLE void abortLanding(double climbOutAltitude); Q_INVOKABLE void abortLanding(double climbOutAltitude);
Q_INVOKABLE void startMission(void); Q_INVOKABLE void startMission();
/// Alter the current mission item on the vehicle /// Alter the current mission item on the vehicle
Q_INVOKABLE void setCurrentMissionSequence(int seq); Q_INVOKABLE void setCurrentMissionSequence(int seq);
...@@ -759,7 +767,7 @@ public: ...@@ -759,7 +767,7 @@ public:
/// Clear Messages /// Clear Messages
Q_INVOKABLE void clearMessages(); Q_INVOKABLE void clearMessages();
Q_INVOKABLE void triggerCamera(void); Q_INVOKABLE void triggerCamera();
Q_INVOKABLE void sendPlan(QString planFile); Q_INVOKABLE void sendPlan(QString planFile);
/// Used to check if running current version is equal or higher than the one being compared. /// Used to check if running current version is equal or higher than the one being compared.
...@@ -781,20 +789,20 @@ public: ...@@ -781,20 +789,20 @@ public:
Q_INVOKABLE void centerGimbal (); Q_INVOKABLE void centerGimbal ();
#if !defined(NO_ARDUPILOT_DIALECT) #if !defined(NO_ARDUPILOT_DIALECT)
Q_INVOKABLE void flashBootloader(void); Q_INVOKABLE void flashBootloader();
#endif #endif
bool guidedModeSupported (void) const; bool guidedModeSupported () const;
bool pauseVehicleSupported (void) const; bool pauseVehicleSupported () const;
bool orbitModeSupported (void) const; bool orbitModeSupported () const;
bool roiModeSupported (void) const; bool roiModeSupported () const;
bool takeoffVehicleSupported (void) const; bool takeoffVehicleSupported () const;
QString gotoFlightMode (void) const; QString gotoFlightMode () const;
// Property accessors // Property accessors
QGeoCoordinate coordinate (void) { return _coordinate; } QGeoCoordinate coordinate() { return _coordinate; }
QGeoCoordinate armedPosition (void) { return _armedPosition; } QGeoCoordinate armedPosition () { return _armedPosition; }
typedef enum { typedef enum {
JoystickModeRC, ///< Joystick emulates an RC Transmitter JoystickModeRC, ///< Joystick emulates an RC Transmitter
...@@ -807,28 +815,28 @@ public: ...@@ -807,28 +815,28 @@ public:
void updateFlightDistance(double distance); void updateFlightDistance(double distance);
int joystickMode(void); int joystickMode();
void setJoystickMode(int mode); void setJoystickMode(int mode);
/// List of joystick mode names /// List of joystick mode names
QStringList joystickModes(void); QStringList joystickModes();
bool joystickEnabled(void); bool joystickEnabled();
void setJoystickEnabled(bool enabled); void setJoystickEnabled(bool enabled);
// Is vehicle active with respect to current active vehicle in QGC // Is vehicle active with respect to current active vehicle in QGC
bool active(void); bool active();
void setActive(bool active); void setActive(bool active);
// Property accesors // Property accesors
int id(void) { return _id; } int id() { return _id; }
MAV_AUTOPILOT firmwareType(void) const { return _firmwareType; } MAV_AUTOPILOT firmwareType() const { return _firmwareType; }
MAV_TYPE vehicleType(void) const { return _vehicleType; } MAV_TYPE vehicleType() const { return _vehicleType; }
Q_INVOKABLE QString vehicleTypeName(void) const; 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 /// 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. /// 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 /// Sends a message to the specified link
/// @return true: message sent, false: Link no longer connected /// @return true: message sent, false: Link no longer connected
...@@ -839,55 +847,55 @@ public: ...@@ -839,55 +847,55 @@ public:
void sendMessageMultiple(mavlink_message_t message); void sendMessageMultiple(mavlink_message_t message);
/// Provides access to uas from vehicle. Temporary workaround until UAS is fully phased out. /// 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. /// 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 /// Provides access to the Firmware Plugin for this Vehicle
FirmwarePlugin* firmwarePlugin(void) { return _firmwarePlugin; } FirmwarePlugin* firmwarePlugin() { return _firmwarePlugin; }
MissionManager* missionManager(void) { return _missionManager; } MissionManager* missionManager() { return _missionManager; }
GeoFenceManager* geoFenceManager(void) { return _geoFenceManager; } GeoFenceManager* geoFenceManager() { return _geoFenceManager; }
RallyPointManager* rallyPointManager(void) { return _rallyPointManager; } RallyPointManager* rallyPointManager() { return _rallyPointManager; }
QGeoCoordinate homePosition(void); QGeoCoordinate homePosition();
bool armed () { return _armed; } bool armed () { return _armed; }
void setArmed (bool armed); void setArmed (bool armed);
bool flightModeSetAvailable (void); bool flightModeSetAvailable ();
QStringList flightModes (void); QStringList flightModes ();
QStringList extraJoystickFlightModes (void); QStringList extraJoystickFlightModes ();
QString flightMode (void) const; QString flightMode () const;
void setFlightMode (const QString& flightMode); void setFlightMode (const QString& flightMode);
QString priorityLinkName(void) const; QString priorityLinkName() const;
QVariantList links(void) const; QVariantList links() const;
void setPriorityLinkByName(const QString& priorityLinkName); void setPriorityLinkByName(const QString& priorityLinkName);
bool hilMode(void); bool hilMode();
void setHilMode(bool hilMode); void setHilMode(bool hilMode);
bool fixedWing(void) const; bool fixedWing() const;
bool multiRotor(void) const; bool multiRotor() const;
bool vtol(void) const; bool vtol() const;
bool rover(void) const; bool rover() const;
bool sub(void) const; bool sub() const;
bool supportsThrottleModeCenterZero (void) const; bool supportsThrottleModeCenterZero () const;
bool supportsNegativeThrust (void); bool supportsNegativeThrust ();
bool supportsRadio (void) const; bool supportsRadio () const;
bool supportsJSButton (void) const; bool supportsJSButton () const;
bool supportsMotorInterference (void) const; bool supportsMotorInterference () const;
bool supportsTerrainFrame (void) const; bool supportsTerrainFrame () const;
void setGuidedMode(bool guidedMode); void setGuidedMode(bool guidedMode);
QString prearmError(void) const { return _prearmError; } QString prearmError() const { return _prearmError; }
void setPrearmError(const QString& prearmError); void setPrearmError(const QString& prearmError);
QmlObjectListModel* cameraTriggerPoints (void) { return &_cameraTriggerPoints; } QmlObjectListModel* cameraTriggerPoints () { return &_cameraTriggerPoints; }
int flowImageIndex() { return _flowImageIndex; } int flowImageIndex() { return _flowImageIndex; }
...@@ -971,35 +979,35 @@ public: ...@@ -971,35 +979,35 @@ public:
/// @return the maximum version /// @return the maximum version
unsigned maxProtoVersion () const { return _maxProtoVersion; } unsigned maxProtoVersion () const { return _maxProtoVersion; }
Fact* roll (void) { return &_rollFact; } Fact* roll () { return &_rollFact; }
Fact* pitch (void) { return &_pitchFact; } Fact* pitch () { return &_pitchFact; }
Fact* heading (void) { return &_headingFact; } Fact* heading () { return &_headingFact; }
Fact* rollRate (void) { return &_rollRateFact; } Fact* rollRate () { return &_rollRateFact; }
Fact* pitchRate (void) { return &_pitchRateFact; } Fact* pitchRate () { return &_pitchRateFact; }
Fact* yawRate (void) { return &_yawRateFact; } Fact* yawRate () { return &_yawRateFact; }
Fact* airSpeed (void) { return &_airSpeedFact; } Fact* airSpeed () { return &_airSpeedFact; }
Fact* groundSpeed (void) { return &_groundSpeedFact; } Fact* groundSpeed () { return &_groundSpeedFact; }
Fact* climbRate (void) { return &_climbRateFact; } Fact* climbRate () { return &_climbRateFact; }
Fact* altitudeRelative (void) { return &_altitudeRelativeFact; } Fact* altitudeRelative () { return &_altitudeRelativeFact; }
Fact* altitudeAMSL (void) { return &_altitudeAMSLFact; } Fact* altitudeAMSL () { return &_altitudeAMSLFact; }
Fact* flightDistance (void) { return &_flightDistanceFact; } Fact* flightDistance () { return &_flightDistanceFact; }
Fact* distanceToHome (void) { return &_distanceToHomeFact; } Fact* distanceToHome () { return &_distanceToHomeFact; }
Fact* headingToNextWP (void) { return &_headingToNextWPFact; } Fact* headingToNextWP () { return &_headingToNextWPFact; }
Fact* headingToHome (void) { return &_headingToHomeFact; } Fact* headingToHome () { return &_headingToHomeFact; }
Fact* distanceToGCS (void) { return &_distanceToGCSFact; } Fact* distanceToGCS () { return &_distanceToGCSFact; }
Fact* hobbs (void) { return &_hobbsFact; } Fact* hobbs () { return &_hobbsFact; }
Fact* throttlePct (void) { return &_throttlePctFact; } Fact* throttlePct () { return &_throttlePctFact; }
FactGroup* gpsFactGroup (void) { return &_gpsFactGroup; } FactGroup* gpsFactGroup () { return &_gpsFactGroup; }
FactGroup* battery1FactGroup (void) { return &_battery1FactGroup; } FactGroup* battery1FactGroup () { return &_battery1FactGroup; }
FactGroup* battery2FactGroup (void) { return &_battery2FactGroup; } FactGroup* battery2FactGroup () { return &_battery2FactGroup; }
FactGroup* windFactGroup (void) { return &_windFactGroup; } FactGroup* windFactGroup () { return &_windFactGroup; }
FactGroup* vibrationFactGroup (void) { return &_vibrationFactGroup; } FactGroup* vibrationFactGroup () { return &_vibrationFactGroup; }
FactGroup* temperatureFactGroup (void) { return &_temperatureFactGroup; } FactGroup* temperatureFactGroup () { return &_temperatureFactGroup; }
FactGroup* clockFactGroup (void) { return &_clockFactGroup; } FactGroup* clockFactGroup () { return &_clockFactGroup; }
FactGroup* setpointFactGroup (void) { return &_setpointFactGroup; } FactGroup* setpointFactGroup () { return &_setpointFactGroup; }
FactGroup* distanceSensorFactGroup (void) { return &_distanceSensorFactGroup; } FactGroup* distanceSensorFactGroup () { return &_distanceSensorFactGroup; }
FactGroup* estimatorStatusFactGroup (void) { return &_estimatorStatusFactGroup; } FactGroup* estimatorStatusFactGroup () { return &_estimatorStatusFactGroup; }
void setConnectionLostEnabled(bool connectionLostEnabled); void setConnectionLostEnabled(bool connectionLostEnabled);
...@@ -1035,41 +1043,41 @@ public: ...@@ -1035,41 +1043,41 @@ public:
static_cast<float>(param7)); static_cast<float>(param7));
} }
int firmwareMajorVersion(void) const { return _firmwareMajorVersion; } int firmwareMajorVersion() const { return _firmwareMajorVersion; }
int firmwareMinorVersion(void) const { return _firmwareMinorVersion; } int firmwareMinorVersion() const { return _firmwareMinorVersion; }
int firmwarePatchVersion(void) const { return _firmwarePatchVersion; } int firmwarePatchVersion() const { return _firmwarePatchVersion; }
int firmwareVersionType(void) const { return _firmwareVersionType; } int firmwareVersionType() const { return _firmwareVersionType; }
int firmwareCustomMajorVersion(void) const { return _firmwareCustomMajorVersion; } int firmwareCustomMajorVersion() const { return _firmwareCustomMajorVersion; }
int firmwareCustomMinorVersion(void) const { return _firmwareCustomMinorVersion; } int firmwareCustomMinorVersion() const { return _firmwareCustomMinorVersion; }
int firmwareCustomPatchVersion(void) const { return _firmwareCustomPatchVersion; } int firmwareCustomPatchVersion() const { return _firmwareCustomPatchVersion; }
QString firmwareVersionTypeString(void) const; QString firmwareVersionTypeString() const;
void setFirmwareVersion(int majorVersion, int minorVersion, int patchVersion, FIRMWARE_VERSION_TYPE versionType = FIRMWARE_VERSION_TYPE_OFFICIAL); void setFirmwareVersion(int majorVersion, int minorVersion, int patchVersion, FIRMWARE_VERSION_TYPE versionType = FIRMWARE_VERSION_TYPE_OFFICIAL);
void setFirmwareCustomVersion(int majorVersion, int minorVersion, int patchVersion); void setFirmwareCustomVersion(int majorVersion, int minorVersion, int patchVersion);
static const int versionNotSetValue = -1; static const int versionNotSetValue = -1;
QString gitHash(void) const { return _gitHash; } QString gitHash() const { return _gitHash; }
quint64 vehicleUID(void) const { return _uid; } quint64 vehicleUID() const { return _uid; }
QString vehicleUIDStr(); QString vehicleUIDStr();
bool soloFirmware(void) const { return _soloFirmware; } bool soloFirmware() const { return _soloFirmware; }
void setSoloFirmware(bool soloFirmware); void setSoloFirmware(bool soloFirmware);
int defaultComponentId(void) { return _defaultComponentId; } int defaultComponentId() { return _defaultComponentId; }
/// Sets the default component id for an offline editing vehicle /// Sets the default component id for an offline editing vehicle
void setOfflineEditingDefaultComponentId(int defaultComponentId); void setOfflineEditingDefaultComponentId(int defaultComponentId);
/// @return -1 = Unknown, Number of motors on vehicle /// @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 /// @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 /// @return true: X confiuration, false: Plus configuration
bool xConfigMotors(void); bool xConfigMotors();
/// @return Firmware plugin instance data associated with this Vehicle /// @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 /// 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. /// and destroyed when the vehicle goes away.
...@@ -1080,22 +1088,22 @@ public: ...@@ -1080,22 +1088,22 @@ public:
QString vehicleImageCompass () const; QString vehicleImageCompass () const;
const QVariantList& toolBarIndicators (); const QVariantList& toolBarIndicators ();
const QVariantList& staticCameraList (void) const; const QVariantList& staticCameraList () const;
bool capabilitiesKnown (void) const { return _vehicleCapabilitiesKnown; } bool capabilitiesKnown () const { return _vehicleCapabilitiesKnown; }
uint64_t capabilityBits (void) const { return _capabilityBits; } // Change signalled by capabilityBitsChanged uint64_t capabilityBits () const { return _capabilityBits; } // Change signalled by capabilityBitsChanged
QGCCameraManager* dynamicCameras () { return _cameras; } QGCCameraManager* dynamicCameras () { return _cameras; }
QString hobbsMeter (); QString hobbsMeter ();
/// @true: When flying a mission the vehicle is always facing towards the next waypoint /// @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. /// 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; /// @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 _setFlying(bool flying);
void _setLanding(bool landing); void _setLanding(bool landing);
...@@ -1116,101 +1124,105 @@ public: ...@@ -1116,101 +1124,105 @@ public:
bool gimbalData () { return _haveGimbalData; } bool gimbalData () { return _haveGimbalData; }
bool isROIEnabled () { return _isROIEnabled; } bool isROIEnabled () { return _isROIEnabled; }
CheckList checkListState () { return _checkListState; }
void setCheckListState (CheckList cl) { _checkListState = cl; emit checkListStateChanged(); }
public slots: public slots:
void setVtolInFwdFlight (bool vtolInFwdFlight); void setVtolInFwdFlight (bool vtolInFwdFlight);
signals: signals:
void allLinksInactive(Vehicle* vehicle); void allLinksInactive (Vehicle* vehicle);
void coordinateChanged(QGeoCoordinate coordinate); void coordinateChanged (QGeoCoordinate coordinate);
void joystickModeChanged(int mode); void joystickModeChanged (int mode);
void joystickEnabledChanged(bool enabled); void joystickEnabledChanged (bool enabled);
void activeChanged(bool active); void activeChanged (bool active);
void mavlinkMessageReceived(const mavlink_message_t& message); void mavlinkMessageReceived (const mavlink_message_t& message);
void homePositionChanged(const QGeoCoordinate& homePosition); void homePositionChanged (const QGeoCoordinate& homePosition);
void armedPositionChanged(); void armedPositionChanged();
void armedChanged(bool armed); void armedChanged (bool armed);
void flightModeChanged(const QString& flightMode); void flightModeChanged (const QString& flightMode);
void hilModeChanged(bool hilMode); void hilModeChanged (bool hilMode);
/** @brief HIL actuator controls (replaces HIL controls) */ /** @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 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 connectionLostChanged (bool connectionLost);
void connectionLostEnabledChanged(bool connectionLostEnabled); void connectionLostEnabledChanged (bool connectionLostEnabled);
void autoDisconnectChanged(bool autoDisconnectChanged); void autoDisconnectChanged (bool autoDisconnectChanged);
void flyingChanged(bool flying); void flyingChanged (bool flying);
void landingChanged(bool landing); void landingChanged (bool landing);
void guidedModeChanged(bool guidedMode); void guidedModeChanged (bool guidedMode);
void vtolInFwdFlightChanged(bool vtolInFwdFlight); void vtolInFwdFlightChanged (bool vtolInFwdFlight);
void prearmErrorChanged(const QString& prearmError); void prearmErrorChanged (const QString& prearmError);
void soloFirmwareChanged(bool soloFirmware); void soloFirmwareChanged (bool soloFirmware);
void unhealthySensorsChanged(void); void unhealthySensorsChanged ();
void defaultCruiseSpeedChanged(double cruiseSpeed); void defaultCruiseSpeedChanged (double cruiseSpeed);
void defaultHoverSpeedChanged(double hoverSpeed); void defaultHoverSpeedChanged (double hoverSpeed);
void firmwareTypeChanged(void); void firmwareTypeChanged ();
void vehicleTypeChanged(void); void vehicleTypeChanged ();
void dynamicCamerasChanged(); void dynamicCamerasChanged ();
void hobbsMeterChanged(); void hobbsMeterChanged ();
void capabilitiesKnownChanged(bool capabilitiesKnown); void capabilitiesKnownChanged (bool capabilitiesKnown);
void initialPlanRequestCompleteChanged(bool initialPlanRequestComplete); void initialPlanRequestCompleteChanged(bool initialPlanRequestComplete);
void capabilityBitsChanged(uint64_t capabilityBits); void capabilityBitsChanged (uint64_t capabilityBits);
void toolBarIndicatorsChanged(void); void toolBarIndicatorsChanged ();
void highLatencyLinkChanged(bool highLatencyLink); void highLatencyLinkChanged (bool highLatencyLink);
void priorityLinkNameChanged(const QString& priorityLinkName); void priorityLinkNameChanged (const QString& priorityLinkName);
void linksChanged(void); void linksChanged ();
void linksPropertiesChanged(void); void linksPropertiesChanged ();
void textMessageReceived(int uasid, int componentid, int severity, QString text); void textMessageReceived (int uasid, int componentid, int severity, QString text);
void checkListStateChanged ();
void messagesReceivedChanged ();
void messagesSentChanged (); void messagesReceivedChanged ();
void messagesLostChanged (); void messagesSentChanged ();
void messagesLostChanged ();
/// Used internally to move sendMessage call to main thread /// Used internally to move sendMessage call to main thread
void _sendMessageOnLinkOnThread(LinkInterface* link, mavlink_message_t message); void _sendMessageOnLinkOnThread(LinkInterface* link, mavlink_message_t message);
void messageTypeChanged (); void messageTypeChanged ();
void newMessageCountChanged (); void newMessageCountChanged ();
void messageCountChanged (); void messageCountChanged ();
void formatedMessagesChanged (); void formatedMessagesChanged ();
void formatedMessageChanged (); void formatedMessageChanged ();
void latestErrorChanged (); void latestErrorChanged ();
void longitudeChanged (); void longitudeChanged ();
void currentConfigChanged (); void currentConfigChanged ();
void flowImageIndexChanged (); void flowImageIndexChanged ();
void rcRSSIChanged (int rcRSSI); void rcRSSIChanged (int rcRSSI);
void telemetryRRSSIChanged (int value); void telemetryRRSSIChanged (int value);
void telemetryLRSSIChanged (int value); void telemetryLRSSIChanged (int value);
void telemetryRXErrorsChanged (unsigned int value); void telemetryRXErrorsChanged (unsigned int value);
void telemetryFixedChanged (unsigned int value); void telemetryFixedChanged (unsigned int value);
void telemetryTXBufferChanged (unsigned int value); void telemetryTXBufferChanged (unsigned int value);
void telemetryLNoiseChanged (int value); void telemetryLNoiseChanged (int value);
void telemetryRNoiseChanged (int value); void telemetryRNoiseChanged (int value);
void autoDisarmChanged (void); void autoDisarmChanged ();
void flightModesChanged (void); void flightModesChanged ();
void sensorsPresentBitsChanged (int sensorsPresentBits); void sensorsPresentBitsChanged (int sensorsPresentBits);
void sensorsEnabledBitsChanged (int sensorsEnabledBits); void sensorsEnabledBitsChanged (int sensorsEnabledBits);
void sensorsHealthBitsChanged (int sensorsHealthBits); void sensorsHealthBitsChanged (int sensorsHealthBits);
void sensorsUnhealthyBitsChanged(int sensorsUnhealthyBits); void sensorsUnhealthyBitsChanged (int sensorsUnhealthyBits);
void orbitActiveChanged (bool orbitActive); void orbitActiveChanged (bool orbitActive);
void firmwareVersionChanged(void); void firmwareVersionChanged ();
void firmwareCustomVersionChanged(void); void firmwareCustomVersionChanged ();
void gitHashChanged(QString hash); void gitHashChanged (QString hash);
void vehicleUIDChanged(); void vehicleUIDChanged ();
/// New RC channel values /// New RC channel values
/// @param channelCount Number of available channels, cMaxRcChannels max /// @param channelCount Number of available channels, cMaxRcChannels max
/// @param pwmValues -1 signals channel not available /// @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%) /// Remote control RSSI changed (0% - 100%)
void remoteControlRSSIChanged(uint8_t rssi); void remoteControlRSSIChanged (uint8_t rssi);
void mavlinkRawImu(mavlink_message_t message); void mavlinkRawImu (mavlink_message_t message);
void mavlinkScaledImu1(mavlink_message_t message); void mavlinkScaledImu1 (mavlink_message_t message);
void mavlinkScaledImu2(mavlink_message_t message); void mavlinkScaledImu2 (mavlink_message_t message);
void mavlinkScaledImu3(mavlink_message_t message); void mavlinkScaledImu3 (mavlink_message_t message);
// Mavlink Log Download // 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 /// Signalled in response to usage of sendMavCommand
/// @param vehicleId Vehicle which command was sent to /// @param vehicleId Vehicle which command was sent to
...@@ -1218,132 +1230,132 @@ signals: ...@@ -1218,132 +1230,132 @@ signals:
/// @param command MAV_CMD Command which was sent /// @param command MAV_CMD Command which was sent
/// @param result MAV_RESULT returned in ack /// @param result MAV_RESULT returned in ack
/// @param noResponseFromVehicle true: vehicle did not respond to command, false: vehicle responsed, MAV_RESULT in result /// @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 // 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 // MAVLink protocol version
void requestProtocolVersion (unsigned version); void requestProtocolVersion (unsigned version);
void mavlinkStatusChanged (); void mavlinkStatusChanged ();
void gimbalRollChanged (); void gimbalRollChanged ();
void gimbalPitchChanged (); void gimbalPitchChanged ();
void gimbalYawChanged (); void gimbalYawChanged ();
void gimbalDataChanged (); void gimbalDataChanged ();
void isROIEnabledChanged (); void isROIEnabledChanged ();
private slots: private slots:
void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message); void _mavlinkMessageReceived (LinkInterface* link, mavlink_message_t message);
void _linkInactiveOrDeleted(LinkInterface* link); void _linkInactiveOrDeleted (LinkInterface* link);
void _sendMessageOnLink(LinkInterface* link, mavlink_message_t message); void _sendMessageOnLink (LinkInterface* link, mavlink_message_t message);
void _sendMessageMultipleNext(void); void _sendMessageMultipleNext ();
void _parametersReady(bool parametersReady); void _parametersReady (bool parametersReady);
void _remoteControlRSSIChanged(uint8_t rssi); void _remoteControlRSSIChanged (uint8_t rssi);
void _handleFlightModeChanged(const QString& flightMode); void _handleFlightModeChanged (const QString& flightMode);
void _announceArmedChanged(bool armed); void _announceArmedChanged (bool armed);
void _offlineFirmwareTypeSettingChanged(QVariant value); void _offlineFirmwareTypeSettingChanged(QVariant value);
void _offlineVehicleTypeSettingChanged(QVariant value); void _offlineVehicleTypeSettingChanged(QVariant value);
void _offlineCruiseSpeedSettingChanged(QVariant value); void _offlineCruiseSpeedSettingChanged(QVariant value);
void _offlineHoverSpeedSettingChanged(QVariant value); void _offlineHoverSpeedSettingChanged(QVariant value);
void _updateHighLatencyLink(bool sendCommand = true); void _updateHighLatencyLink (bool sendCommand = true);
void _handleTextMessage (int newCount); void _handleTextMessage (int newCount);
void _handletextMessageReceived (UASMessage* message); void _handletextMessageReceived (UASMessage* message);
/** @brief A new camera image has arrived */ /** @brief A new camera image has arrived */
void _imageReady (UASInterface* uas); void _imageReady (UASInterface* uas);
void _prearmErrorTimeout(void); void _prearmErrorTimeout ();
void _missionLoadComplete(void); void _missionLoadComplete ();
void _geoFenceLoadComplete(void); void _geoFenceLoadComplete ();
void _rallyPointLoadComplete(void); void _rallyPointLoadComplete ();
void _sendMavCommandAgain(void); void _sendMavCommandAgain ();
void _clearCameraTriggerPoints(void); void _clearCameraTriggerPoints ();
void _updateDistanceHeadingToHome(void); void _updateDistanceHeadingToHome ();
void _updateHeadingToNextWP(void); void _updateHeadingToNextWP ();
void _updateDistanceToGCS(void); void _updateDistanceToGCS ();
void _updateHobbsMeter(void); void _updateHobbsMeter ();
void _vehicleParamLoaded(bool ready); void _vehicleParamLoaded (bool ready);
void _sendQGCTimeToVehicle(void); void _sendQGCTimeToVehicle ();
void _mavlinkMessageStatus(int uasId, uint64_t totalSent, uint64_t totalReceived, uint64_t totalLoss, float lossPercent); 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 _trafficUpdate (bool alert, QString traffic_id, QString vehicle_id, QGeoCoordinate location, float heading);
void _orbitTelemetryTimeout (void); void _orbitTelemetryTimeout ();
void _protocolVersionTimeOut(void); void _protocolVersionTimeOut ();
void _updateFlightTime (void); void _updateFlightTime ();
private: private:
bool _containsLink (LinkInterface* link); bool _containsLink (LinkInterface* link);
void _addLink (LinkInterface* link); void _addLink (LinkInterface* link);
void _joystickChanged (Joystick* joystick); void _joystickChanged (Joystick* joystick);
void _loadSettings(void); void _loadSettings ();
void _saveSettings(void); void _saveSettings ();
void _startJoystick(bool start); void _startJoystick (bool start);
void _handlePing(LinkInterface* link, mavlink_message_t& message); void _handlePing (LinkInterface* link, mavlink_message_t& message);
void _handleHomePosition(mavlink_message_t& message); void _handleHomePosition (mavlink_message_t& message);
void _handleHeartbeat(mavlink_message_t& message); void _handleHeartbeat (mavlink_message_t& message);
void _handleRadioStatus(mavlink_message_t& message); void _handleRadioStatus (mavlink_message_t& message);
void _handleRCChannels(mavlink_message_t& message); void _handleRCChannels (mavlink_message_t& message);
void _handleRCChannelsRaw(mavlink_message_t& message); void _handleRCChannelsRaw (mavlink_message_t& message);
void _handleBatteryStatus(mavlink_message_t& message); void _handleBatteryStatus (mavlink_message_t& message);
void _handleSysStatus(mavlink_message_t& message); void _handleSysStatus (mavlink_message_t& message);
void _handleWindCov(mavlink_message_t& message); void _handleWindCov (mavlink_message_t& message);
void _handleVibration(mavlink_message_t& message); void _handleVibration (mavlink_message_t& message);
void _handleExtendedSysState(mavlink_message_t& message); void _handleExtendedSysState (mavlink_message_t& message);
void _handleCommandAck(mavlink_message_t& message); void _handleCommandAck (mavlink_message_t& message);
void _handleCommandLong(mavlink_message_t& message); void _handleCommandLong (mavlink_message_t& message);
void _handleAutopilotVersion(LinkInterface* link, mavlink_message_t& message); void _handleAutopilotVersion (LinkInterface* link, mavlink_message_t& message);
void _handleProtocolVersion(LinkInterface* link, mavlink_message_t& message); void _handleProtocolVersion (LinkInterface* link, mavlink_message_t& message);
void _handleHilActuatorControls(mavlink_message_t& message); void _handleHilActuatorControls (mavlink_message_t& message);
void _handleGpsRawInt(mavlink_message_t& message); void _handleGpsRawInt (mavlink_message_t& message);
void _handleGlobalPositionInt(mavlink_message_t& message); void _handleGlobalPositionInt (mavlink_message_t& message);
void _handleAltitude(mavlink_message_t& message); void _handleAltitude (mavlink_message_t& message);
void _handleVfrHud(mavlink_message_t& message); void _handleVfrHud (mavlink_message_t& message);
void _handleScaledPressure(mavlink_message_t& message); void _handleScaledPressure (mavlink_message_t& message);
void _handleScaledPressure2(mavlink_message_t& message); void _handleScaledPressure2 (mavlink_message_t& message);
void _handleScaledPressure3(mavlink_message_t& message); void _handleScaledPressure3 (mavlink_message_t& message);
void _handleHighLatency2(mavlink_message_t& message); void _handleHighLatency2 (mavlink_message_t& message);
void _handleAttitudeWorker(double rollRadians, double pitchRadians, double yawRadians); void _handleAttitudeWorker (double rollRadians, double pitchRadians, double yawRadians);
void _handleAttitude(mavlink_message_t& message); void _handleAttitude (mavlink_message_t& message);
void _handleAttitudeQuaternion(mavlink_message_t& message); void _handleAttitudeQuaternion (mavlink_message_t& message);
void _handleAttitudeTarget(mavlink_message_t& message); void _handleAttitudeTarget (mavlink_message_t& message);
void _handleDistanceSensor(mavlink_message_t& message); void _handleDistanceSensor (mavlink_message_t& message);
void _handleEstimatorStatus(mavlink_message_t& message); void _handleEstimatorStatus (mavlink_message_t& message);
void _handleStatusText(mavlink_message_t& message, bool longVersion); void _handleStatusText (mavlink_message_t& message, bool longVersion);
void _handleOrbitExecutionStatus(const mavlink_message_t& message); void _handleOrbitExecutionStatus (const mavlink_message_t& message);
void _handleMessageInterval(const mavlink_message_t& message); void _handleMessageInterval (const mavlink_message_t& message);
void _handleGimbalOrientation(const mavlink_message_t& message); void _handleGimbalOrientation (const mavlink_message_t& message);
void _handleObstacleDistance(const mavlink_message_t& message); void _handleObstacleDistance (const mavlink_message_t& message);
// ArduPilot dialect messages // ArduPilot dialect messages
#if !defined(NO_ARDUPILOT_DIALECT) #if !defined(NO_ARDUPILOT_DIALECT)
void _handleCameraFeedback(const mavlink_message_t& message); void _handleCameraFeedback (const mavlink_message_t& message);
void _handleWind(mavlink_message_t& message); void _handleWind (mavlink_message_t& message);
#endif #endif
void _handleCameraImageCaptured(const mavlink_message_t& message); void _handleCameraImageCaptured (const mavlink_message_t& message);
void _handleADSBVehicle(const mavlink_message_t& message); void _handleADSBVehicle (const mavlink_message_t& message);
void _missionManagerError(int errorCode, const QString& errorMsg); void _missionManagerError (int errorCode, const QString& errorMsg);
void _geoFenceManagerError(int errorCode, const QString& errorMsg); void _geoFenceManagerError (int errorCode, const QString& errorMsg);
void _rallyPointManagerError(int errorCode, const QString& errorMsg); void _rallyPointManagerError (int errorCode, const QString& errorMsg);
void _linkActiveChanged(LinkInterface* link, bool active, int vehicleID); void _linkActiveChanged (LinkInterface* link, bool active, int vehicleID);
void _say(const QString& text); void _say (const QString& text);
QString _vehicleIdSpeech(void); QString _vehicleIdSpeech ();
void _handleMavlinkLoggingData(mavlink_message_t& message); void _handleMavlinkLoggingData (mavlink_message_t& message);
void _handleMavlinkLoggingDataAcked(mavlink_message_t& message); void _handleMavlinkLoggingDataAcked (mavlink_message_t& message);
void _ackMavlinkLogData(uint16_t sequence); void _ackMavlinkLogData (uint16_t sequence);
void _sendNextQueuedMavCommand(void); void _sendNextQueuedMavCommand ();
void _updatePriorityLink(bool updateActive, bool sendCommand); void _updatePriorityLink (bool updateActive, bool sendCommand);
void _commonInit(void); void _commonInit ();
void _startPlanRequest(void); void _startPlanRequest ();
void _setupAutoDisarmSignalling(void); void _setupAutoDisarmSignalling ();
void _setCapabilities(uint64_t capabilityBits); void _setCapabilities (uint64_t capabilityBits);
void _updateArmed(bool armed); void _updateArmed (bool armed);
bool _apmArmingNotRequired(void); bool _apmArmingNotRequired ();
void _pidTuningAdjustRates(bool setRatesForTuning); void _pidTuningAdjustRates (bool setRatesForTuning);
void _handleUnsupportedRequestAutopilotCapabilities(void); void _handleUnsupportedRequestAutopilotCapabilities();
void _handleUnsupportedRequestProtocolVersion(void); void _handleUnsupportedRequestProtocolVersion();
void _initializeCsv(); void _initializeCsv ();
void _writeCsvLine(); void _writeCsvLine ();
void _flightTimerStart(void); void _flightTimerStart ();
void _flightTimerStop(void); void _flightTimerStop ();
int _id; ///< Mavlink system id int _id; ///< Mavlink system id
int _defaultComponentId; int _defaultComponentId;
...@@ -1360,8 +1372,8 @@ private: ...@@ -1360,8 +1372,8 @@ private:
QGCToolbox* _toolbox; QGCToolbox* _toolbox;
SettingsManager* _settingsManager; SettingsManager* _settingsManager;
QTimer _csvLogTimer; QTimer _csvLogTimer;
QFile _csvLogFile; QFile _csvLogFile;
QList<LinkInterface*> _links; QList<LinkInterface*> _links;
...@@ -1411,6 +1423,7 @@ private: ...@@ -1411,6 +1423,7 @@ private:
uint64_t _capabilityBits; uint64_t _capabilityBits;
bool _highLatencyLink; bool _highLatencyLink;
bool _receivingAttitudeQuaternion; bool _receivingAttitudeQuaternion;
CheckList _checkListState = CheckListNotSetup;
QGCCameraManager* _cameras; QGCCameraManager* _cameras;
......
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