From 6d28eda25a0fad3ae181e110ca8c7346cf4ec0e8 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 10 Aug 2014 20:24:34 +0200 Subject: [PATCH] Removed unmaintained dialect messages --- src/uas/UAS.cc | 122 ------------------------------------------------- 1 file changed, 122 deletions(-) diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc index 092f004c6..6133bafa2 100644 --- a/src/uas/UAS.cc +++ b/src/uas/UAS.cc @@ -1384,126 +1384,16 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) imagePackets = 0; imagePacketsArrived = 0; emit imageReady(this); - //qDebug() << "imageReady emitted. all packets arrived"; } } break; - - // case MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT: - // { - // mavlink_object_detection_event_t event; - // mavlink_msg_object_detection_event_decode(&message, &event); - // QString str(event.name); - // emit objectDetected(event.time, event.object_id, event.type, str, event.quality, event.bearing, event.distance); - // } - // break; - // WILL BE ENABLED ONCE MESSAGE IS IN COMMON MESSAGE SET - // case MAVLINK_MSG_ID_MEMORY_VECT: - // { - // mavlink_memory_vect_t vect; - // mavlink_msg_memory_vect_decode(&message, &vect); - // QString str("mem_%1"); - // quint64 time = getUnixTime(0); - // int16_t *mem0 = (int16_t *)&vect.value[0]; - // uint16_t *mem1 = (uint16_t *)&vect.value[0]; - // int32_t *mem2 = (int32_t *)&vect.value[0]; - // // uint32_t *mem3 = (uint32_t *)&vect.value[0]; causes overload problem - // float *mem4 = (float *)&vect.value[0]; - // if ( vect.ver == 0) vect.type = 0, vect.ver = 1; else ; - // if ( vect.ver == 1) - // { - // switch (vect.type) { - // default: - // case 0: - // for (int i = 0; i < 16; i++) - // // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "i16", mem0[i], time); - // break; - // case 1: - // for (int i = 0; i < 16; i++) - // // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "ui16", mem1[i], time); - // break; - // case 2: - // for (int i = 0; i < 16; i++) - // // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "Q15", (float)mem0[i]/32767.0, time); - // break; - // case 3: - // for (int i = 0; i < 16; i++) - // // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "1Q14", (float)mem0[i]/16383.0, time); - // break; - // case 4: - // for (int i = 0; i < 8; i++) - // // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*4)), "i32", mem2[i], time); - // break; - // case 5: - // for (int i = 0; i < 8; i++) - // // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*4)), "i32", mem2[i], time); - // break; - // case 6: - // for (int i = 0; i < 8; i++) - // // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*4)), "float", mem4[i], time); - // break; - // } - // } - // } - // break; -#ifdef MAVLINK_ENABLED_UALBERTA - case MAVLINK_MSG_ID_NAV_FILTER_BIAS: - { - mavlink_nav_filter_bias_t bias; - mavlink_msg_nav_filter_bias_decode(&message, &bias); - quint64 time = getUnixTime(); - // FIXME REMOVE LATER emit valueChanged(uasId, "b_f[0]", "raw", bias.accel_0, time); - // FIXME REMOVE LATER emit valueChanged(uasId, "b_f[1]", "raw", bias.accel_1, time); - // FIXME REMOVE LATER emit valueChanged(uasId, "b_f[2]", "raw", bias.accel_2, time); - // FIXME REMOVE LATER emit valueChanged(uasId, "b_w[0]", "raw", bias.gyro_0, time); - // FIXME REMOVE LATER emit valueChanged(uasId, "b_w[1]", "raw", bias.gyro_1, time); - // FIXME REMOVE LATER emit valueChanged(uasId, "b_w[2]", "raw", bias.gyro_2, time); - } - break; - case MAVLINK_MSG_ID_RADIO_CALIBRATION: - { - mavlink_radio_calibration_t radioMsg; - mavlink_msg_radio_calibration_decode(&message, &radioMsg); - QVector aileron; - QVector elevator; - QVector rudder; - QVector gyro; - QVector pitch; - QVector throttle; - - for (int i=0; i radioData = new RadioCalibrationData(aileron, elevator, rudder, gyro, pitch, throttle); - emit radioCalibrationReceived(radioData); - delete radioData; - } - break; - -#endif case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT: { - //mavlink_set_local_position_setpoint_t p; - //mavlink_msg_set_local_position_setpoint_decode(&message, &p); - //emit userPositionSetPointsChanged(uasId, p.x, p.y, p.z, p.yaw); mavlink_nav_controller_output_t p; mavlink_msg_nav_controller_output_decode(&message,&p); setDistToWaypoint(p.wp_dist); setBearingToWaypoint(p.nav_bearing); - //setAltitudeError(p.alt_error); - //setSpeedError(p.aspd_error); - //setCrosstrackingError(p.xtrack_error); emit navigationControllerErrorsChanged(this, p.alt_error, p.aspd_error, p.xtrack_error); } break; @@ -1618,16 +1508,10 @@ void UAS::setLocalOriginAtCurrentGPSPosition() */ void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw) { -#ifdef MAVLINK_ENABLED_PIXHAWK - mavlink_message_t msg; - mavlink_msg_set_local_position_setpoint_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_FRAME_LOCAL_NED, x, y, z, yaw/M_PI*180.0); - sendMessage(msg); -#else Q_UNUSED(x); Q_UNUSED(y); Q_UNUSED(z); Q_UNUSED(yaw); -#endif } /** @@ -1639,16 +1523,10 @@ void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw) */ void UAS::setLocalPositionOffset(float x, float y, float z, float yaw) { -#ifdef MAVLINK_ENABLED_PIXHAWK - mavlink_message_t msg; - mavlink_msg_set_position_control_offset_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, x, y, z, yaw); - sendMessage(msg); -#else Q_UNUSED(x); Q_UNUSED(y); Q_UNUSED(z); Q_UNUSED(yaw); -#endif } void UAS::startRadioControlCalibration(int param) -- 2.22.0