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Commit 6d28eda2 authored by Lorenz Meier's avatar Lorenz Meier
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Removed unmaintained dialect messages

parent ce6fb7b7
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src/uas/UAS.cc
View file @ 6d28eda2
......@@ -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<uint16_t> aileron;
QVector<uint16_t> elevator;
QVector<uint16_t> rudder;
QVector<uint16_t> gyro;
QVector<uint16_t> pitch;
QVector<uint16_t> throttle;
for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_AILERON_LEN; ++i)
aileron << radioMsg.aileron[i];
for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_ELEVATOR_LEN; ++i)
elevator << radioMsg.elevator[i];
for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_RUDDER_LEN; ++i)
rudder << radioMsg.rudder[i];
for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_GYRO_LEN; ++i)
gyro << radioMsg.gyro[i];
for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_PITCH_LEN; ++i)
pitch << radioMsg.pitch[i];
for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_THROTTLE_LEN; ++i)
throttle << radioMsg.throttle[i];
QPointer<RadioCalibrationData> 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)
......
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