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Commit 2ed50262 authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #3897 from bluerobotics/ardusubMocklink 

Add mock link for ArduSub Firmware Plugin testing
parents 6039eb9a 2d54faaa
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qgroundcontrol.qrc
View file @ 2ed50262
......@@ -3,6 +3,7 @@
<file alias="PX4MockLink.params">src/comm/PX4MockLink.params</file>
<file alias="APMArduCopterMockLink.params">src/comm/APMArduCopterMockLink.params</file>
<file alias="APMArduPlaneMockLink.params">src/comm/APMArduPlaneMockLink.params</file>
<file alias="APMArduSubMockLink.params">src/comm/APMArduSubMockLink.params</file>
<file alias="FactSystemTest.qml">src/FactSystem/FactSystemTest.qml</file>
</qresource>
<qresource prefix="/qml">
......
src/QmlControls/QGroundControlQmlGlobal.cc
View file @ 2ed50262
......@@ -137,6 +137,15 @@ void QGroundControlQmlGlobal::startAPMArduPlaneMockLink(bool sendStatusText)
#endif
}
void QGroundControlQmlGlobal::startAPMArduSubMockLink(bool sendStatusText)
{
#ifdef QT_DEBUG
MockLink::startAPMArduSubMockLink(sendStatusText);
#else
Q_UNUSED(sendStatusText);
#endif
}
void QGroundControlQmlGlobal::stopAllMockLinks(void)
{
#ifdef QT_DEBUG
......
src/QmlControls/QGroundControlQmlGlobal.h
View file @ 2ed50262
......@@ -123,6 +123,7 @@ public:
Q_INVOKABLE void startGenericMockLink (bool sendStatusText);
Q_INVOKABLE void startAPMArduCopterMockLink (bool sendStatusText);
Q_INVOKABLE void startAPMArduPlaneMockLink (bool sendStatusText);
Q_INVOKABLE void startAPMArduSubMockLink (bool sendStatusText);
Q_INVOKABLE void stopAllMockLinks (void);
/// Converts from meters to the user specified distance unit
......
src/comm/APMArduSubMockLink.params 0 → 100755
View file @ 2ed50262
# Onboard parameters for vehicle 128
#
# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT)
128 1 ACCEL_Z_D 0.000000000000000000 9
128 1 ACCEL_Z_FILT 20.000000000000000000 9
128 1 ACCEL_Z_I 1.000000000000000000 9
128 1 ACCEL_Z_IMAX 800.000000000000000000 9
128 1 ACCEL_Z_P 0.500000000000000000 9
128 1 ACRO_BAL_PITCH 1.000000000000000000 9
128 1 ACRO_BAL_ROLL 1.000000000000000000 9
128 1 ACRO_EXPO 0.300000011920928955 9
128 1 ACRO_RP_P 4.500000000000000000 9
128 1 ACRO_TRAINER 2 2
128 1 ACRO_YAW_P 4.500000000000000000 9
128 1 AHRS_COMP_BETA 0.100000001490116119 9
128 1 AHRS_EKF_TYPE 2 2
128 1 AHRS_GPS_GAIN 1.000000000000000000 9
128 1 AHRS_GPS_MINSATS 6 2
128 1 AHRS_GPS_USE 1 2
128 1 AHRS_ORIENTATION 16 2
128 1 AHRS_RP_P 0.200000002980232239 9
128 1 AHRS_TRIM_X -0.017862198874354362 9
128 1 AHRS_TRIM_Y -0.001083165174350142 9
128 1 AHRS_TRIM_Z 0.000000000000000000 9
128 1 AHRS_WIND_MAX 0 2
128 1 AHRS_YAW_P 0.200000002980232239 9
128 1 ANGLE_MAX 4500 4
128 1 ARMING_CHECK 0 2
128 1 ATC_ACCEL_P_MAX 110000.000000000000000000 9
128 1 ATC_ACCEL_R_MAX 110000.000000000000000000 9
128 1 ATC_ACCEL_Y_MAX 0.000000000000000000 9
128 1 ATC_ANGLE_BOOST 1 2
128 1 ATC_ANG_LIM_TC 1.000000000000000000 9
128 1 ATC_ANG_PIT_P 6.000000000000000000 9
128 1 ATC_ANG_RLL_P 6.000000000000000000 9
128 1 ATC_ANG_YAW_P 6.000000000000000000 9
128 1 ATC_RATE_FF_ENAB 1 2
128 1 ATC_RAT_PIT_D 0.003599999938160181 9
128 1 ATC_RAT_PIT_FILT 20.000000000000000000 9
128 1 ATC_RAT_PIT_I 0.090000003576278687 9
128 1 ATC_RAT_PIT_IMAX 0.444000005722045898 9
128 1 ATC_RAT_PIT_P 0.135000005364418030 9
128 1 ATC_RAT_RLL_D 0.000000000000000000 9
128 1 ATC_RAT_RLL_FILT 20.000000000000000000 9
128 1 ATC_RAT_RLL_I 0.000000000000000000 9
128 1 ATC_RAT_RLL_IMAX 0.444000005722045898 9
128 1 ATC_RAT_RLL_P 0.000000000000000000 9
128 1 ATC_RAT_YAW_D 0.000000000000000000 9
128 1 ATC_RAT_YAW_FILT 30.000000000000000000 9
128 1 ATC_RAT_YAW_I 0.019999999552965164 9
128 1 ATC_RAT_YAW_IMAX 0.222000002861022949 9
128 1 ATC_RAT_YAW_P 0.180000007152557373 9
128 1 ATC_SLEW_YAW 6000.000000000000000000 9
128 1 ATC_THR_MIX_MAX 0.500000000000000000 9
128 1 ATC_THR_MIX_MIN 0.100000001490116119 9
128 1 AUTOTUNE_AGGR 0.100000001490116119 9
128 1 AUTOTUNE_AXES 7 2
128 1 AUTOTUNE_MIN_D 0.001000000047497451 9
128 1 AVOID_ENABLE 1 2
128 1 BATT2_AMP_OFFSET 0.000000000000000000 9
128 1 BATT2_AMP_PERVOL 17.000000000000000000 9
128 1 BATT2_CAPACITY 3300 6
128 1 BATT2_CURR_PIN 3 2
128 1 BATT2_MONITOR 0 2
128 1 BATT2_VOLT_MULT 10.100000381469726562 9
128 1 BATT2_VOLT_PIN 2 2
128 1 BATT_AMP_OFFSET 0.000000000000000000 9
128 1 BATT_AMP_PERVOLT 17.000000000000000000 9
128 1 BATT_CAPACITY 18000 6
128 1 BATT_CURR_PIN 3 2
128 1 BATT_MONITOR 4 2
128 1 BATT_VOLT_MULT 10.100000381469726562 9
128 1 BATT_VOLT_PIN 2 2
128 1 BRD_CAN_ENABLE 0 2
128 1 BRD_IMU_TARGTEMP 0 2
128 1 BRD_PWM_COUNT 4 2
128 1 BRD_SAFETYENABLE 0 2
128 1 BRD_SAFETY_MASK 0 6
128 1 BRD_SBUS_OUT 0 2
128 1 BRD_SER1_RTSCTS 2 2
128 1 BRD_SER2_RTSCTS 2 2
128 1 BRD_SERIAL_NUM 0 4
128 1 BTN0_FUNCTION 0 2
128 1 BTN0_SFUNCTION 0 2
128 1 BTN10_FUNCTION 48 2
128 1 BTN10_SFUNCTION 0 2
128 1 BTN11_FUNCTION 42 2
128 1 BTN11_SFUNCTION 0 2
128 1 BTN12_FUNCTION 43 2
128 1 BTN12_SFUNCTION 0 2
128 1 BTN13_FUNCTION 33 2
128 1 BTN13_SFUNCTION 45 2
128 1 BTN14_FUNCTION 32 2
128 1 BTN14_SFUNCTION 44 2
128 1 BTN15_FUNCTION 0 2
128 1 BTN15_SFUNCTION 0 2
128 1 BTN1_FUNCTION 6 2
128 1 BTN1_SFUNCTION 0 2
128 1 BTN2_FUNCTION 8 2
128 1 BTN2_SFUNCTION 0 2
128 1 BTN3_FUNCTION 7 2
128 1 BTN3_SFUNCTION 0 2
128 1 BTN4_FUNCTION 22 2
128 1 BTN4_SFUNCTION 0 2
128 1 BTN5_FUNCTION 23 2
128 1 BTN5_SFUNCTION 0 2
128 1 BTN6_FUNCTION 4 2
128 1 BTN6_SFUNCTION 0 2
128 1 BTN7_FUNCTION 3 2
128 1 BTN7_SFUNCTION 0 2
128 1 BTN8_FUNCTION 1 2
128 1 BTN8_SFUNCTION 0 2
128 1 BTN9_FUNCTION 21 2
128 1 BTN9_SFUNCTION 0 2
128 1 CAM_DURATION 10 2
128 1 CAM_FEEDBACK_PIN 0 2
128 1 CAM_FEEDBACK_POL 1 2
128 1 CAM_MAX_ROLL 0 4
128 1 CAM_MIN_INTERVAL 0 4
128 1 CAM_RELAY_ON 1 2
128 1 CAM_SERVO_OFF 1100 4
128 1 CAM_SERVO_ON 1300 4
128 1 CAM_TRIGG_DIST 0.000000000000000000 9
128 1 CAM_TRIGG_TYPE 0 2
128 1 CH10_OPT 0 2
128 1 CH11_OPT 0 2
128 1 CH12_OPT 0 2
128 1 CH7_OPT 0 2
128 1 CH8_OPT 0 2
128 1 CH9_OPT 0 2
128 1 CIRCLE_RADIUS 1000.000000000000000000 9
128 1 CIRCLE_RATE 20.000000000000000000 9
128 1 CLI_ENABLED 0 2
128 1 COMPASS_AUTODEC 1 2
128 1 COMPASS_CAL_FIT 8.000000000000000000 9
128 1 COMPASS_DEC 0.000000000000000000 9
128 1 COMPASS_DEV_ID 131594 6
128 1 COMPASS_DEV_ID2 0 6
128 1 COMPASS_DEV_ID3 0 6
128 1 COMPASS_DIA2_X 0.000000000000000000 9
128 1 COMPASS_DIA2_Y 0.000000000000000000 9
128 1 COMPASS_DIA2_Z 0.000000000000000000 9
128 1 COMPASS_DIA3_X 0.000000000000000000 9
128 1 COMPASS_DIA3_Y 0.000000000000000000 9
128 1 COMPASS_DIA3_Z 0.000000000000000000 9
128 1 COMPASS_DIA_X 1.000000000000000000 9
128 1 COMPASS_DIA_Y 1.000000000000000000 9
128 1 COMPASS_DIA_Z 1.000000000000000000 9
128 1 COMPASS_EXTERN2 0 2
128 1 COMPASS_EXTERN3 0 2
128 1 COMPASS_EXTERNAL 0 2
128 1 COMPASS_LEARN 1 2
128 1 COMPASS_MOT2_X 0.000000000000000000 9
128 1 COMPASS_MOT2_Y 0.000000000000000000 9
128 1 COMPASS_MOT2_Z 0.000000000000000000 9
128 1 COMPASS_MOT3_X 0.000000000000000000 9
128 1 COMPASS_MOT3_Y 0.000000000000000000 9
128 1 COMPASS_MOT3_Z 0.000000000000000000 9
128 1 COMPASS_MOTCT 0 2
128 1 COMPASS_MOT_X 0.000000000000000000 9
128 1 COMPASS_MOT_Y 0.000000000000000000 9
128 1 COMPASS_MOT_Z 0.000000000000000000 9
128 1 COMPASS_ODI2_X 0.000000000000000000 9
128 1 COMPASS_ODI2_Y 0.000000000000000000 9
128 1 COMPASS_ODI2_Z 0.000000000000000000 9
128 1 COMPASS_ODI3_X 0.000000000000000000 9
128 1 COMPASS_ODI3_Y 0.000000000000000000 9
128 1 COMPASS_ODI3_Z 0.000000000000000000 9
128 1 COMPASS_ODI_X 0.000000000000000000 9
128 1 COMPASS_ODI_Y 0.000000000000000000 9
128 1 COMPASS_ODI_Z 0.000000000000000000 9
128 1 COMPASS_OFS2_X 0.000000000000000000 9
128 1 COMPASS_OFS2_Y 0.000000000000000000 9
128 1 COMPASS_OFS2_Z 0.000000000000000000 9
128 1 COMPASS_OFS3_X 0.000000000000000000 9
128 1 COMPASS_OFS3_Y 0.000000000000000000 9
128 1 COMPASS_OFS3_Z 0.000000000000000000 9
128 1 COMPASS_OFS_X -68.000000000000000000 9
128 1 COMPASS_OFS_Y 166.000000000000000000 9
128 1 COMPASS_OFS_Z -435.000000000000000000 9
128 1 COMPASS_ORIENT 0 2
128 1 COMPASS_ORIENT2 0 2
128 1 COMPASS_ORIENT3 0 2
128 1 COMPASS_PRIMARY 0 2
128 1 COMPASS_USE 1 2
128 1 COMPASS_USE2 1 2
128 1 COMPASS_USE3 1 2
128 1 DISARM_DELAY 0 2
128 1 EK2_ABIAS_P_NSE 0.004999999888241291 9
128 1 EK2_ACC_P_NSE 0.600000023841857910 9
128 1 EK2_ALT_M_NSE 0.100000001490116119 9
128 1 EK2_ALT_SOURCE 0 2
128 1 EK2_CHECK_SCALE 100 4
128 1 EK2_EAS_I_GATE 400 4
128 1 EK2_EAS_M_NSE 1.399999976158142090 9
128 1 EK2_ENABLE 1 2
128 1 EK2_FLOW_DELAY 10 2
128 1 EK2_FLOW_I_GATE 300 4
128 1 EK2_FLOW_M_NSE 0.250000000000000000 9
128 1 EK2_GBIAS_P_NSE 0.000099999997473788 9
128 1 EK2_GLITCH_RAD 25 2
128 1 EK2_GPS_CHECK 31 2
128 1 EK2_GPS_DELAY 220 4
128 1 EK2_GPS_TYPE 0 2
128 1 EK2_GSCL_P_NSE 0.000500000023748726 9
128 1 EK2_GYRO_P_NSE 0.029999999329447746 9
128 1 EK2_HGT_DELAY 60 4
128 1 EK2_HGT_I_GATE 500 4
128 1 EK2_IMU_MASK 3 2
128 1 EK2_LOG_MASK 1 2
128 1 EK2_MAGB_P_NSE 0.000099999997473788 9
128 1 EK2_MAGE_P_NSE 0.001000000047497451 9
128 1 EK2_MAG_CAL 3 2
128 1 EK2_MAG_I_GATE 300 4
128 1 EK2_MAG_M_NSE 0.050000000745058060 9
128 1 EK2_MAX_FLOW 2.500000000000000000 9
128 1 EK2_NOAID_M_NSE 10.000000000000000000 9
128 1 EK2_POSNE_M_NSE 1.000000000000000000 9
128 1 EK2_POS_I_GATE 500 4
128 1 EK2_RNG_I_GATE 500 4
128 1 EK2_RNG_M_NSE 0.500000000000000000 9
128 1 EK2_TAU_OUTPUT 25 2
128 1 EK2_VELD_M_NSE 0.699999988079071045 9
128 1 EK2_VELNE_M_NSE 0.500000000000000000 9
128 1 EK2_VEL_I_GATE 500 4
128 1 EK2_WIND_PSCALE 0.500000000000000000 9
128 1 EK2_WIND_P_NSE 0.100000001490116119 9
128 1 EK2_YAW_I_GATE 300 4
128 1 EK2_YAW_M_NSE 0.500000000000000000 9
128 1 EKF_ENABLE 0 2
128 1 EPM_ENABLE 0 2
128 1 EPM_GRAB 1900 4
128 1 EPM_NEUTRAL 1500 4
128 1 EPM_REGRAB 0 2
128 1 EPM_RELEASE 1100 4
128 1 ESC_CALIBRATION 0 2
128 1 FENCE_ACTION 1 2
128 1 FENCE_ALT_MAX 100.000000000000000000 9
128 1 FENCE_DEPTH_MAX -10.000000000000000000 9
128 1 FENCE_ENABLE 0 2
128 1 FENCE_MARGIN 2.000000000000000000 9
128 1 FENCE_RADIUS 300.000000000000000000 9
128 1 FENCE_TOTAL 0 2
128 1 FENCE_TYPE 7 2
128 1 FLOW_ENABLE 0 2
128 1 FLOW_FXSCALER 0 4
128 1 FLOW_FYSCALER 0 4
128 1 FLOW_ORIENT_YAW 0 4
128 1 FLTMODE1 19 2
128 1 FLTMODE2 0 2
128 1 FLTMODE3 2 2
128 1 FLTMODE4 0 2
128 1 FLTMODE5 0 2
128 1 FLTMODE6 0 2
128 1 FRAME 1 2
128 1 FS_BATT_ENABLE 0 2
128 1 FS_BATT_MAH 0.000000000000000000 9
128 1 FS_BATT_VOLTAGE 10.500000000000000000 9
128 1 FS_CRASH_CHECK 0 2
128 1 FS_EKF_ACTION 1 2
128 1 FS_EKF_THRESH 0.800000011920928955 9
128 1 FS_GCS_ENABLE 1 2
128 1 FS_THR_ENABLE 0 2
128 1 FS_THR_VALUE 975 4
128 1 GCS_PID_MASK 0 4
128 1 GND_ABS_PRESS 100721.140625000000000000 9
128 1 GND_ALT_OFFSET 0.000000000000000000 9
128 1 GND_BASE_PRESS 98975.476562500000000000 9
128 1 GND_BASE_RESET 0 2
128 1 GND_PRIMARY 1 2
128 1 GND_SPEC_GRAV 1.000000000000000000 9
128 1 GND_TEMP 26.966283798217773438 9
128 1 GPS_AUTO_CONFIG 1 2
128 1 GPS_AUTO_SWITCH 1 2
128 1 GPS_GNSS_MODE 0 2
128 1 GPS_GNSS_MODE2 0 2
128 1 GPS_HDOP_GOOD 140 4
128 1 GPS_INJECT_TO 127 2
128 1 GPS_MIN_DGPS 100 2
128 1 GPS_MIN_ELEV 0 2
128 1 GPS_NAVFILTER 8 2
128 1 GPS_RAW_DATA 0 2
128 1 GPS_SAVE_CFG 0 2
128 1 GPS_SBAS_MODE 2 2
128 1 GPS_SBP_LOGMASK -256 4
128 1 GPS_TYPE 1 2
128 1 GPS_TYPE2 0 2
128 1 INS_ACC2OFFS_X 0.663968503475189209 9
128 1 INS_ACC2OFFS_Y 0.732862293720245361 9
128 1 INS_ACC2OFFS_Z 0.392130941152572632 9
128 1 INS_ACC2SCAL_X 1.044255375862121582 9
128 1 INS_ACC2SCAL_Y 1.021702170372009277 9
128 1 INS_ACC2SCAL_Z 1.012331962585449219 9
128 1 INS_ACC3OFFS_X 0.000000000000000000 9
128 1 INS_ACC3OFFS_Y 0.000000000000000000 9
128 1 INS_ACC3OFFS_Z 0.000000000000000000 9
128 1 INS_ACC3SCAL_X 0.000000000000000000 9
128 1 INS_ACC3SCAL_Y 0.000000000000000000 9
128 1 INS_ACC3SCAL_Z 0.000000000000000000 9
128 1 INS_ACCEL_FILTER 20 2
128 1 INS_ACCOFFS_X -0.093796379864215851 9
128 1 INS_ACCOFFS_Y -0.100834839046001434 9
128 1 INS_ACCOFFS_Z 0.410744011402130127 9
128 1 INS_ACCSCAL_X 0.995854496955871582 9
128 1 INS_ACCSCAL_Y 1.006878376007080078 9
128 1 INS_ACCSCAL_Z 0.992123425006866455 9
128 1 INS_ACC_BODYFIX 2 2
128 1 INS_GYR2OFFS_X 0.027385253459215164 9
128 1 INS_GYR2OFFS_Y 0.030301291495561600 9
128 1 INS_GYR2OFFS_Z -0.016768395900726318 9
128 1 INS_GYR3OFFS_X 0.000000000000000000 9
128 1 INS_GYR3OFFS_Y 0.000000000000000000 9
128 1 INS_GYR3OFFS_Z 0.000000000000000000 9
128 1 INS_GYROFFS_X 0.015457602217793465 9
128 1 INS_GYROFFS_Y 0.038951616734266281 9
128 1 INS_GYROFFS_Z -0.008368885144591331 9
128 1 INS_GYRO_FILTER 20 2
128 1 INS_GYR_CAL 1 2
128 1 INS_PRODUCT_ID 5 4
128 1 INS_STILL_THRESH 0.100000001490116119 9
128 1 INS_TRIM_OPTION 1 2
128 1 INS_USE 1 2
128 1 INS_USE2 1 2
128 1 INS_USE3 0 2
128 1 LAND_REPOSITION 1 2
128 1 LAND_SPEED 50 4
128 1 LAND_SPEED_HIGH 0 4
128 1 LGR_SERVO_DEPLOY 1750 4
128 1 LGR_SERVO_RTRACT 1250 4
128 1 LOG_BACKEND_TYPE 1 2
128 1 LOG_BITMASK 176126 6
128 1 LOG_DISARMED 0 2
128 1 LOG_FILE_BUFSIZE 16 2
128 1 LOG_REPLAY 0 2
128 1 MAG_ENABLE 1 2
128 1 MIS_RESTART 0 2
128 1 MIS_TOTAL 0 4
128 1 MNT_ANGMAX_PAN 4500 4
128 1 MNT_ANGMAX_ROL 4500 4
128 1 MNT_ANGMAX_TIL 4500 4
128 1 MNT_ANGMIN_PAN -4500 4
128 1 MNT_ANGMIN_ROL -4500 4
128 1 MNT_ANGMIN_TIL -4500 4
128 1 MNT_DEFLT_MODE 3 2
128 1 MNT_JSTICK_SPD 0 2
128 1 MNT_LEAD_PTCH 0.000000000000000000 9
128 1 MNT_LEAD_RLL 0.000000000000000000 9
128 1 MNT_NEUTRAL_X 0.000000000000000000 9
128 1 MNT_NEUTRAL_Y 0.000000000000000000 9
128 1 MNT_NEUTRAL_Z 0.000000000000000000 9
128 1 MNT_RC_IN_PAN 0 2
128 1 MNT_RC_IN_ROLL 0 2
128 1 MNT_RC_IN_TILT 8 2
128 1 MNT_RETRACT_X 0.000000000000000000 9
128 1 MNT_RETRACT_Y 0.000000000000000000 9
128 1 MNT_RETRACT_Z 0.000000000000000000 9
128 1 MNT_STAB_PAN 0 2
128 1 MNT_STAB_ROLL 0 2
128 1 MNT_STAB_TILT 0 2
128 1 MNT_TYPE 1 2
128 1 MOT_1_DIRECTION 0 2
128 1 MOT_2_DIRECTION 0 2
128 1 MOT_3_DIRECTION 1 2
128 1 MOT_4_DIRECTION 1 2
128 1 MOT_5_DIRECTION 0 2
128 1 MOT_6_DIRECTION 1 2
128 1 MOT_7_DIRECTION 1 2
128 1 MOT_8_DIRECTION 1 2
128 1 MOT_FV_CPLNG_K 1.000000000000000000 9
128 1 NTF_BUZZ_ENABLE 1 2
128 1 NTF_LED_BRIGHT 3 2
128 1 NTF_LED_OVERRIDE 0 2
128 1 PILOT_ACCEL_Z 50 4
128 1 PILOT_THR_BHV 0 4
128 1 PILOT_THR_FILT 0.000000000000000000 9
128 1 PILOT_TKOFF_ALT 0.000000000000000000 9
128 1 PILOT_TKOFF_DZ 100 4
128 1 PILOT_VELZ_MAX 50 4
128 1 POS_XY_P 1.000000000000000000 9
128 1 POS_Z_P 1.000000000000000000 9
128 1 PSC_ACC_XY_FILT 2.000000000000000000 9
128 1 RC10_DZ 0 4
128 1 RC10_FUNCTION 0 2
128 1 RC10_MAX 2000 4
128 1 RC10_MIN 1000 4
128 1 RC10_REV 1 2
128 1 RC10_TRIM 1500 4
128 1 RC11_DZ 0 4
128 1 RC11_FUNCTION 0 2
128 1 RC11_MAX 2000 4
128 1 RC11_MIN 1000 4
128 1 RC11_REV 1 2
128 1 RC11_TRIM 1500 4
128 1 RC12_DZ 0 4
128 1 RC12_FUNCTION 0 2
128 1 RC12_MAX 2000 4
128 1 RC12_MIN 1000 4
128 1 RC12_REV 1 2
128 1 RC12_TRIM 1500 4
128 1 RC13_DZ 0 4
128 1 RC13_FUNCTION 0 2
128 1 RC13_MAX 2000 4
128 1 RC13_MIN 1000 4
128 1 RC13_REV 1 2
128 1 RC13_TRIM 1500 4
128 1 RC14_DZ 0 4
128 1 RC14_FUNCTION 0 2
128 1 RC14_MAX 2000 4
128 1 RC14_MIN 1000 4
128 1 RC14_REV 1 2
128 1 RC14_TRIM 1500 4
128 1 RC1_DZ 30 4
128 1 RC1_MAX 2000 4
128 1 RC1_MIN 1000 4
128 1 RC1_REV 1 2
128 1 RC1_TRIM 1500 4
128 1 RC2_DZ 30 4
128 1 RC2_MAX 2000 4
128 1 RC2_MIN 1000 4
128 1 RC2_REV 1 2
128 1 RC2_TRIM 1500 4
128 1 RC3_DZ 30 4
128 1 RC3_MAX 1900 4
128 1 RC3_MIN 1100 4
128 1 RC3_REV 1 2
128 1 RC3_TRIM 1100 4
128 1 RC4_DZ 40 4
128 1 RC4_MAX 1900 4
128 1 RC4_MIN 1100 4
128 1 RC4_REV 1 2
128 1 RC4_TRIM 1500 4
128 1 RC5_DZ 0 4
128 1 RC5_FUNCTION 0 2
128 1 RC5_MAX 2000 4
128 1 RC5_MIN 1000 4
128 1 RC5_REV 1 2
128 1 RC5_TRIM 1500 4
128 1 RC6_DZ 30 4
128 1 RC6_FUNCTION 0 2
128 1 RC6_MAX 1900 4
128 1 RC6_MIN 1100 4
128 1 RC6_REV 1 2
128 1 RC6_TRIM 1500 4
128 1 RC7_DZ 30 4
128 1 RC7_FUNCTION 59 2
128 1 RC7_MAX 1900 4
128 1 RC7_MIN 1100 4
128 1 RC7_REV 0 2
128 1 RC7_TRIM 1500 4
128 1 RC8_DZ 0 4
128 1 RC8_FUNCTION 7 2
128 1 RC8_MAX 2000 4
128 1 RC8_MIN 1000 4
128 1 RC8_REV 0 2
128 1 RC8_TRIM 1500 4
128 1 RC9_DZ 0 4
128 1 RC9_FUNCTION 0 2
128 1 RC9_MAX 2000 4
128 1 RC9_MIN 1000 4
128 1 RC9_REV 1 2
128 1 RC9_TRIM 1500 4
128 1 RCMAP_FORWARD 6 2
128 1 RCMAP_LATERAL 7 2
128 1 RCMAP_PITCH 1 2
128 1 RCMAP_ROLL 2 2
128 1 RCMAP_THROTTLE 3 2
128 1 RCMAP_YAW 4 2
128 1 RC_FEEL_RP 50 2
128 1 RC_SPEED 490 4
128 1 RELAY_DEFAULT 0 2
128 1 RELAY_PIN 54 2
128 1 RELAY_PIN2 55 2
128 1 RELAY_PIN3 0 2
128 1 RELAY_PIN4 0 2
128 1 RNGFND2_ADDR 0 2
128 1 RNGFND2_FUNCTION 0 2
128 1 RNGFND2_GNDCLEAR 10 2
128 1 RNGFND2_MAX_CM 700 4
128 1 RNGFND2_MIN_CM 20 4
128 1 RNGFND2_OFFSET 0.000000000000000000 9
128 1 RNGFND2_PIN 0 2
128 1 RNGFND2_RMETRIC 1 2
128 1 RNGFND2_SCALING 3.000000000000000000 9
128 1 RNGFND2_SETTLE 0 4
128 1 RNGFND2_STOP_PIN 0 2
128 1 RNGFND2_TYPE 0 2
128 1 RNGFND_ADDR 0 2
128 1 RNGFND_FUNCTION 0 2
128 1 RNGFND_GAIN 0.800000011920928955 9
128 1 RNGFND_GNDCLEAR 10 2
128 1 RNGFND_MAX_CM 700 4
128 1 RNGFND_MIN_CM 20 4
128 1 RNGFND_OFFSET 0.000000000000000000 9
128 1 RNGFND_PIN 0 2
128 1 RNGFND_PWRRNG 0 4
128 1 RNGFND_RMETRIC 1 2
128 1 RNGFND_SCALING 3.000000000000000000 9
128 1 RNGFND_SETTLE 0 4
128 1 RNGFND_STOP_PIN 0 2
128 1 RNGFND_TYPE 0 2
128 1 RPM2_SCALING 1.000000000000000000 9
128 1 RPM2_TYPE 0 2
128 1 RPM_MAX 100000.000000000000000000 9
128 1 RPM_MIN 10.000000000000000000 9
128 1 RPM_MIN_QUAL 0.500000000000000000 9
128 1 RPM_SCALING 1.000000000000000000 9
128 1 RPM_TYPE 0 2
128 1 RSSI_ANA_PIN 0 2
128 1 RSSI_CHANNEL 0 2
128 1 RSSI_CHAN_HIGH 2000 4
128 1 RSSI_CHAN_LOW 1000 4
128 1 RSSI_PIN_HIGH 5.000000000000000000 9
128 1 RSSI_PIN_LOW 0.000000000000000000 9
128 1 RSSI_TYPE 0 2
128 1 RTL_ALT 1500 4
128 1 RTL_ALT_FINAL 0 4
128 1 RTL_CLIMB_MIN 0 4
128 1 RTL_CONE_SLOPE 3.000000000000000000 9
128 1 RTL_LOIT_TIME 5000 6
128 1 RTL_SPEED 0 4
128 1 SCHED_DEBUG 0 2
128 1 SCHED_LOOP_RATE 400 4
128 1 SERIAL0_BAUD 115 6
128 1 SERIAL0_PROTOCOL 1 2
128 1 SERIAL1_BAUD 57 6
128 1 SERIAL1_PROTOCOL 1 2
128 1 SERIAL2_BAUD 57 6
128 1 SERIAL2_PROTOCOL 1 2
128 1 SERIAL3_BAUD 38 6
128 1 SERIAL3_PROTOCOL 5 2
128 1 SERIAL4_BAUD 38 6
128 1 SERIAL4_PROTOCOL 5 2
128 1 SERIAL5_BAUD 57 6
128 1 SERIAL5_PROTOCOL 0 2
128 1 SIMPLE 0 2
128 1 SR0_ADSB 5 4
128 1 SR0_EXTRA1 4 4
128 1 SR0_EXTRA2 4 4
128 1 SR0_EXTRA3 4 4
128 1 SR0_EXT_STAT 4 4
128 1 SR0_PARAMS 10 4
128 1 SR0_POSITION 4 4
128 1 SR0_RAW_CTRL 4 4
128 1 SR0_RAW_SENS 4 4
128 1 SR0_RC_CHAN 4 4
128 1 SR1_ADSB 5 4
128 1 SR1_EXTRA1 0 4
128 1 SR1_EXTRA2 0 4
128 1 SR1_EXTRA3 0 4
128 1 SR1_EXT_STAT 0 4
128 1 SR1_PARAMS 0 4
128 1 SR1_POSITION 0 4
128 1 SR1_RAW_CTRL 0 4
128 1 SR1_RAW_SENS 0 4
128 1 SR1_RC_CHAN 0 4
128 1 SR2_ADSB 5 4
128 1 SR2_EXTRA1 0 4
128 1 SR2_EXTRA2 0 4
128 1 SR2_EXTRA3 0 4
128 1 SR2_EXT_STAT 0 4
128 1 SR2_PARAMS 0 4
128 1 SR2_POSITION 0 4
128 1 SR2_RAW_CTRL 0 4
128 1 SR2_RAW_SENS 0 4
128 1 SR2_RC_CHAN 0 4
128 1 SR3_ADSB 5 4
128 1 SR3_EXTRA1 0 4
128 1 SR3_EXTRA2 0 4
128 1 SR3_EXTRA3 0 4
128 1 SR3_EXT_STAT 0 4
128 1 SR3_PARAMS 0 4
128 1 SR3_POSITION 0 4
128 1 SR3_RAW_CTRL 0 4
128 1 SR3_RAW_SENS 0 4
128 1 SR3_RC_CHAN 0 4
128 1 SUPER_SIMPLE 0 2
128 1 SURFACE_DEPTH -10.000000000000000000 9
128 1 SYSID_MYGCS 255 4
128 1 SYSID_SW_MREV 120 4
128 1 SYSID_SW_TYPE 10 2
128 1 SYSID_THISMAV 1 4
128 1 TELEM_DELAY 0 2
128 1 TERRAIN_FOLLOW 0 2
128 1 THROW_MOT_START 0 2
128 1 THR_DZ 100 4
128 1 TUNE 0 2
128 1 TUNE_HIGH 1000 4
128 1 TUNE_LOW 0 4
128 1 VEL_XY_FILT_HZ 5.000000000000000000 9
128 1 VEL_XY_I 0.500000000000000000 9
128 1 VEL_XY_IMAX 1000.000000000000000000 9
128 1 VEL_XY_P 1.000000000000000000 9
128 1 VEL_Z_P 5.000000000000000000 9
128 1 WPNAV_ACCEL 100.000000000000000000 9
128 1 WPNAV_ACCEL_Z 100.000000000000000000 9
128 1 WPNAV_LOIT_JERK 1000.000000000000000000 9
128 1 WPNAV_LOIT_MAXA 250.000000000000000000 9
128 1 WPNAV_LOIT_MINA 25.000000000000000000 9
128 1 WPNAV_LOIT_SPEED 500.000000000000000000 9
128 1 WPNAV_RADIUS 200.000000000000000000 9
128 1 WPNAV_SPEED 500.000000000000000000 9
128 1 WPNAV_SPEED_DN 150.000000000000000000 9
128 1 WPNAV_SPEED_UP 250.000000000000000000 9
128 1 WP_TKOFF_NAV_ALT 0.000000000000000000 9
128 1 WP_YAW_BEHAVIOR 2 2
src/comm/MockLink.cc
View file @ 2ed50262
......@@ -180,6 +180,8 @@ void MockLink::_loadParams(void)
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
if (_vehicleType == MAV_TYPE_FIXED_WING) {
paramFile.setFileName(":/unittest/APMArduPlaneMockLink.params");
} else if (_vehicleType == MAV_TYPE_SUBMARINE ) {
paramFile.setFileName(":/unittest/APMArduSubMockLink.params");
} else {
paramFile.setFileName(":/unittest/APMArduCopterMockLink.params");
}
......@@ -1030,6 +1032,18 @@ MockLink* MockLink::startAPMArduPlaneMockLink(bool sendStatusText, MockConfigur
return _startMockLink(mockConfig);
}
MockLink* MockLink::startAPMArduSubMockLink(bool sendStatusText, MockConfiguration::FailureMode_t failureMode)
{
MockConfiguration* mockConfig = new MockConfiguration("APM ArduSub MockLink");
mockConfig->setFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
mockConfig->setVehicleType(MAV_TYPE_SUBMARINE);
mockConfig->setSendStatusText(sendStatusText);
mockConfig->setFailureMode(failureMode);
return _startMockLink(mockConfig);
}
void MockLink::_sendRCChannels(void)
{
mavlink_message_t msg;
......
src/comm/MockLink.h
View file @ 2ed50262
......@@ -148,6 +148,7 @@ public:
static MockLink* startGenericMockLink (bool sendStatusText, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone);
static MockLink* startAPMArduCopterMockLink (bool sendStatusText, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone);
static MockLink* startAPMArduPlaneMockLink (bool sendStatusText, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone);
static MockLink* startAPMArduSubMockLink (bool sendStatusText, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone);
private slots:
virtual void _writeBytes(const QByteArray bytes);
......
src/ui/preferences/MockLink.qml
View file @ 2ed50262
......@@ -48,6 +48,10 @@ Rectangle {
text: qsTr("APM ArduPlane Vehicle")
onClicked: QGroundControl.startAPMArduPlaneMockLink(sendStatusText.checked)
}
QGCButton {
text: qsTr("APM ArduSub Vehicle")
onClicked: QGroundControl.startAPMArduSubMockLink(sendStatusText.checked)
}
QGCButton {
text: qsTr("Generic Vehicle")
onClicked: QGroundControl.startGenericMockLink(sendStatusText.checked)
......
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