Updated to v1.0

src/comm/MAVLinkSimulationLink.cc

@@ -546,14 +546,14 @@ void MAVLinkSimulationLink::mainloop()
         static int typeCounter = 0;
         uint8_t mavType;
         if (typeCounter < 10) {
-            mavType = MAV_QUADROTOR;
+            mavType = MAV_TYPE_QUADROTOR;
         } else {
-            mavType = typeCounter % (OCU);
+            mavType = typeCounter % (MAV_TYPE_OCU);
         }
         typeCounter++;
 
         // Pack message and get size of encoded byte string
-        messageSize = mavlink_msg_heartbeat_pack(systemId, componentId, &msg, mavType, MAV_AUTOPILOT_PIXHAWK);
+        messageSize = mavlink_msg_heartbeat_pack(systemId, componentId, &msg, mavType, MAV_CLASS_PIXHAWK);
         // Allocate buffer with packet data
         bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
         //add data into datastream
@@ -722,31 +722,32 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
 
                 qDebug() << "SIM" << "received action" << action.action << "for system" << action.target;
 
-                switch (action.action) {
-                case MAV_ACTION_LAUNCH:
-                    status.status = MAV_STATE_ACTIVE;
-                    status.mode = MAV_MODE_AUTO;
-                    break;
-                case MAV_ACTION_RETURN:
-                    status.status = MAV_STATE_ACTIVE;
-                    break;
-                case MAV_ACTION_MOTORS_START:
-                    status.status = MAV_STATE_ACTIVE;
-                    status.mode = MAV_MODE_LOCKED;
-                    break;
-                case MAV_ACTION_MOTORS_STOP:
-                    status.status = MAV_STATE_STANDBY;
-                    status.mode = MAV_MODE_LOCKED;
-                    break;
-                case MAV_ACTION_EMCY_KILL:
-                    status.status = MAV_STATE_EMERGENCY;
-                    status.mode = MAV_MODE_MANUAL;
-                    break;
-                case MAV_ACTION_SHUTDOWN:
-                    status.status = MAV_STATE_POWEROFF;
-                    status.mode = MAV_MODE_LOCKED;
-                    break;
-                }
+                // FIXME MAVLINKV10PORTINGNEEDED
+//                switch (action.action) {
+//                case MAV_ACTION_LAUNCH:
+//                    status.status = MAV_STATE_ACTIVE;
+//                    status.mode = MAV_MODE_AUTO;
+//                    break;
+//                case MAV_ACTION_RETURN:
+//                    status.status = MAV_STATE_ACTIVE;
+//                    break;
+//                case MAV_ACTION_MOTORS_START:
+//                    status.status = MAV_STATE_ACTIVE;
+//                    status.mode = MAV_MODE_LOCKED;
+//                    break;
+//                case MAV_ACTION_MOTORS_STOP:
+//                    status.status = MAV_STATE_STANDBY;
+//                    status.mode = MAV_MODE_LOCKED;
+//                    break;
+//                case MAV_ACTION_EMCY_KILL:
+//                    status.status = MAV_STATE_EMERGENCY;
+//                    status.mode = MAV_MODE_MANUAL;
+//                    break;
+//                case MAV_ACTION_SHUTDOWN:
+//                    status.status = MAV_STATE_POWEROFF;
+//                    status.mode = MAV_MODE_LOCKED;
+//                    break;
+//                }
             }
             break;
 #ifdef MAVLINK_ENABLED_PIXHAWK
@@ -771,7 +772,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                 for (i = onboardParams.begin(); i != onboardParams.end(); ++i) {
                     if (j != 5) {
                         // Pack message and get size of encoded byte string
-                        mavlink_msg_param_value_pack(read.target_system, componentId, &msg, (int8_t*)i.key().toStdString().c_str(), i.value(), onboardParams.size(), j);
+                        mavlink_msg_param_value_pack(read.target_system, componentId, &msg, i.key().toStdString().c_str(), i.value(), onboardParams.size(), j);
                         // Allocate buffer with packet data
                         bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
                         //add data into datastream
@@ -799,7 +800,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                         onboardParams.insert(key, set.param_value);
 
                         // Pack message and get size of encoded byte string
-                        mavlink_msg_param_value_pack(set.target_system, componentId, &msg, (int8_t*)key.toStdString().c_str(), set.param_value, onboardParams.size(), onboardParams.keys().indexOf(key));
+                        mavlink_msg_param_value_pack(set.target_system, componentId, &msg, key.toStdString().c_str(), set.param_value, onboardParams.size(), onboardParams.keys().indexOf(key));
                         // Allocate buffer with packet data
                         bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
                         //add data into datastream
@@ -820,7 +821,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                     float paramValue = onboardParams.value(key);
 
                     // Pack message and get size of encoded byte string
-                    mavlink_msg_param_value_pack(read.target_system, componentId, &msg, (int8_t*)key.toStdString().c_str(), paramValue, onboardParams.size(), onboardParams.keys().indexOf(key));
+                    mavlink_msg_param_value_pack(read.target_system, componentId, &msg, key.toStdString().c_str(), paramValue, onboardParams.size(), onboardParams.keys().indexOf(key));
                     // Allocate buffer with packet data
                     bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
                     //add data into datastream
@@ -832,7 +833,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                     float paramValue = onboardParams.value(key);
 
                     // Pack message and get size of encoded byte string
-                    mavlink_msg_param_value_pack(read.target_system, componentId, &msg, (int8_t*)key.toStdString().c_str(), paramValue, onboardParams.size(), onboardParams.keys().indexOf(key));
+                    mavlink_msg_param_value_pack(read.target_system, componentId, &msg, key.toStdString().c_str(), paramValue, onboardParams.size(), onboardParams.keys().indexOf(key));
                     // Allocate buffer with packet data
                     bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
                     //add data into datastream

src/comm/MAVLinkSimulationMAV.cc

@@ -68,7 +68,7 @@ void MAVLinkSimulationMAV::mainloop()
     // 1 Hz execution
     if (timer1Hz <= 0) {
         mavlink_message_t msg;
-        mavlink_msg_heartbeat_pack_version_free(systemid, MAV_COMP_ID_IMU, &msg, MAV_FIXED_WING, MAV_AUTOPILOT_PIXHAWK, mavlink_version);
+        mavlink_msg_heartbeat_pack(systemid, MAV_COMP_ID_IMU, &msg, MAV_TYPE_FIXED_WING, MAV_CLASS_PIXHAWK);
         link->sendMAVLinkMessage(&msg);
         planner.handleMessage(msg);
 
@@ -306,30 +306,31 @@ void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg)
         if (systemid == mode.target) sys_mode = mode.mode;
     }
     break;
-    case MAVLINK_MSG_ID_ACTION: {
-        mavlink_action_t action;
-        mavlink_msg_action_decode(&msg, &action);
-        if (systemid == action.target && (action.target_component == 0 || action.target_component == MAV_COMP_ID_IMU)) {
-            mavlink_action_ack_t ack;
-            ack.action = action.action;
-            switch (action.action) {
-            case MAV_ACTION_TAKEOFF:
-                flying = true;
-                nav_mode = MAV_NAV_LIFTOFF;
-                ack.result = 1;
-                break;
-            default: {
-                ack.result = 0;
-            }
-            break;
-            }
-
-            // Give feedback about action
-            mavlink_message_t r_msg;
-            mavlink_msg_action_ack_encode(systemid, MAV_COMP_ID_IMU, &r_msg, &ack);
-            link->sendMAVLinkMessage(&r_msg);
-        }
-    }
+    // FIXME MAVLINKV10PORTINGNEEDED
+//    case MAVLINK_MSG_ID_ACTION: {
+//        mavlink_action_t action;
+//        mavlink_msg_action_decode(&msg, &action);
+//        if (systemid == action.target && (action.target_component == 0 || action.target_component == MAV_COMP_ID_IMU)) {
+//            mavlink_action_ack_t ack;
+//            ack.action = action.action;
+////            switch (action.action) {
+////            case MAV_ACTION_TAKEOFF:
+////                flying = true;
+////                nav_mode = MAV_NAV_LIFTOFF;
+////                ack.result = 1;
+////                break;
+////            default: {
+////                ack.result = 0;
+////            }
+////            break;
+////            }
+
+//            // Give feedback about action
+//            mavlink_message_t r_msg;
+//            mavlink_msg_action_ack_encode(systemid, MAV_COMP_ID_IMU, &r_msg, &ack);
+//            link->sendMAVLinkMessage(&r_msg);
+//        }
+//    }
     break;
     case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET: {
         mavlink_local_position_setpoint_set_t sp;

src/comm/MAVLinkSimulationMAV.h

@@ -55,16 +55,17 @@ protected:
     bool flying;
     int mavlink_version;
 
-    static inline uint16_t mavlink_msg_heartbeat_pack_version_free(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t autopilot, uint8_t version) {
-        uint16_t i = 0;
-        msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
+    // FIXME MAVLINKV10PORTINGNEEDED
+//    static inline uint16_t mavlink_msg_heartbeat_pack_version_free(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t autopilot, uint8_t version) {
+//        uint16_t i = 0;
+//        msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
 
-        i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
-        i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
-        i += put_uint8_t_by_index(version, i, msg->payload); // MAVLink version
+//        i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+//        i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
+//        i += put_uint8_t_by_index(version, i, msg->payload); // MAVLink version
 
-        return mavlink_finalize_message(msg, system_id, component_id, i);
-    }
+//        return mavlink_finalize_message(msg, system_id, component_id, i);
+//    }
 
 };
 

src/uas/QGCMAVLinkUASFactory.cc

@@ -10,16 +10,21 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
 {
     QPointer<QObject> p;
 
-    if (parent != NULL) {
+    if (parent != NULL)
+    {
         p = parent;
-    } else {
+    }
+    else
+    {
         p = mavlink;
     }
 
     UASInterface* uas;
 
-    switch (heartbeat->autopilot) {
-    case MAV_AUTOPILOT_GENERIC: {
+    switch (heartbeat->autopilot)
+    {
+    case MAV_CLASS_GENERIC:
+    {
         UAS* mav = new UAS(mavlink, sysid);
         // Set the system type
         mav->setSystemType((int)heartbeat->type);
@@ -28,7 +33,8 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
         uas = mav;
     }
     break;
-    case MAV_AUTOPILOT_PIXHAWK: {
+    case MAV_CLASS_PIXHAWK:
+    {
         PxQuadMAV* mav = new PxQuadMAV(mavlink, sysid);
         // Set the system type
         mav->setSystemType((int)heartbeat->type);
@@ -40,7 +46,8 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
         uas = mav;
     }
     break;
-    case MAV_AUTOPILOT_SLUGS: {
+    case MAV_CLASS_SLUGS:
+    {
         SlugsMAV* mav = new SlugsMAV(mavlink, sysid);
         // Set the system type
         mav->setSystemType((int)heartbeat->type);
@@ -52,7 +59,8 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
         uas = mav;
     }
     break;
-    case MAV_AUTOPILOT_ARDUPILOTMEGA: {
+    case MAV_CLASS_ARDUPILOTMEGA:
+    {
         ArduPilotMegaMAV* mav = new ArduPilotMegaMAV(mavlink, sysid);
         // Set the system type
         mav->setSystemType((int)heartbeat->type);
@@ -64,7 +72,8 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
         uas = mav;
     }
     break;
-    default: {
+    default:
+    {
         UAS* mav = new UAS(mavlink, sysid);
         mav->setSystemType((int)heartbeat->type);
         // Connect this robot to the UAS object

src/uas/UAS.h

@@ -253,8 +253,6 @@ public slots:
     }
     /** @brief Set a new name **/
     void setUASName(const QString& name);
-    /** @brief Executes an action **/
-    void setAction(MAV_ACTION action);
     /** @brief Executes a command **/
     void executeCommand(MAV_CMD command);
     /** @brief Executes a command **/

src/uas/UASInterface.h

@@ -188,8 +188,6 @@ public slots:
 
     /** @brief Set a new name for the system */
     virtual void setUASName(const QString& name) = 0;
-    /** @brief Sets an action **/
-    virtual void setAction(MAV_ACTION action) = 0;
     /** @brief Execute command immediately **/
     virtual void executeCommand(MAV_CMD command) = 0;
     /** @brief Executes a command **/

src/uas/UASWaypointManager.cc

@@ -586,8 +586,10 @@ int UASWaypointManager::getLocalFrameCount()
     // Search through all waypoints,
     // counting only those in global frame
     int i = 0;
-    foreach (Waypoint* p, waypoints) {
-        if (p->getFrame() == MAV_FRAME_GLOBAL) {
+    foreach (Waypoint* p, waypoints)
+    {
+        if (p->getFrame() == MAV_FRAME_GLOBAL)
+        {
             i++;
         }
     }
@@ -600,8 +602,10 @@ int UASWaypointManager::getLocalFrameIndexOf(Waypoint* wp)
     // Search through all waypoints,
     // counting only those in local frame
     int i = 0;
-    foreach (Waypoint* p, waypoints) {
-        if (p->getFrame() == MAV_FRAME_LOCAL) {
+    foreach (Waypoint* p, waypoints)
+    {
+        if (p->getFrame() == MAV_FRAME_LOCAL_NED || p->getFrame() == MAV_FRAME_LOCAL_ENU)
+        {
             if (p == wp) {
                 return i;
             }
@@ -617,7 +621,8 @@ int UASWaypointManager::getMissionFrameIndexOf(Waypoint* wp)
     // Search through all waypoints,
     // counting only those in mission frame
     int i = 0;
-    foreach (Waypoint* p, waypoints) {
+    foreach (Waypoint* p, waypoints)
+    {
         if (p->getFrame() == MAV_FRAME_MISSION) {
             if (p == wp) {
                 return i;

src/ui/DebugConsole.cc

@@ -355,7 +355,7 @@ void DebugConsole::receiveBytes(LinkInterface* link, QByteArray bytes)
         for (int j = 0; j < len; j++)
         {
             unsigned char byte = bytes.at(j);
-            // Filter MAVLink (http://pixhawk.ethz.ch/wiki/mavlink/) messages out of the stream.
+            // Filter MAVLink (http://qgroundcontrol.org/mavlink/) messages out of the stream.
             if (filterMAVLINK)
             {
                 if (this->bytesToIgnore > 0)