Merge pull request #3840 from bluerobotics/ardusubPluginWithXML

ArduSub Plugin: Basic Files + XML Update

qgroundcontrol.pro

@@ -665,6 +665,7 @@ HEADERS+= \
     src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h \
     src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h \
     src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h \
+    src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h \
     src/FirmwarePlugin/PX4/px4_custom_mode.h \
     src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h \
     src/FirmwarePlugin/PX4/PX4ParameterMetaData.h \
@@ -723,6 +724,7 @@ SOURCES += \
     src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc \
     src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc \
     src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc \
+    src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc \
     src/FirmwarePlugin/FirmwarePlugin.cc \
     src/FirmwarePlugin/FirmwarePluginManager.cc \
     src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc \

src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+/// @file
+///     @author Rustom Jehangir <rusty@bluerobotics.com>
+
+#include "ArduSubFirmwarePlugin.h"
+#include "QGCApplication.h"
+#include "MissionManager.h"
+
+APMSubMode::APMSubMode(uint32_t mode, bool settable) :
+    APMCustomMode(mode, settable)
+{
+    QMap<uint32_t,QString> enumToString;
+    enumToString.insert(MANUAL, "Manual");
+    enumToString.insert(STABILIZE, "Stabilize");
+    enumToString.insert(ALT_HOLD,  "Depth Hold");
+
+    setEnumToStringMapping(enumToString);
+}
+
+ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void)
+{
+    QList<APMCustomMode> supportedFlightModes;
+    supportedFlightModes << APMSubMode(APMSubMode::MANUAL ,true);
+    supportedFlightModes << APMSubMode(APMSubMode::STABILIZE ,true);
+    supportedFlightModes << APMSubMode(APMSubMode::ALT_HOLD  ,true);
+    setSupportedModes(supportedFlightModes);
+}

src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+/// @file
+///     @author Rustom Jehangir <rusty@bluerobotics.com>
+
+#ifndef ArduSubFirmwarePlugin_H
+#define ArduSubFirmwarePlugin_H
+
+#include "APMFirmwarePlugin.h"
+
+class APMSubMode : public APMCustomMode
+{
+public:
+    enum Mode {
+        STABILIZE         = 0,   // Hold level position
+        RESERVED_1        = 1,
+        ALT_HOLD          = 2,   // Depth hold
+        RESERVED_3        = 3,
+        RESERVED_4        = 4,
+        RESERVED_5        = 5,
+        RESERVED_6        = 6,
+        RESERVED_7        = 7,
+        RESERVED_8        = 8,
+        RESERVED_9        = 9,
+        RESERVED_10       = 10,
+        RESERVED_11       = 11,
+        RESERVED_12       = 12,
+        RESERVED_13       = 13,
+        RESERVED_14       = 14,
+        RESERVED_15       = 15,
+        RESERVED_16       = 16,
+        RESERVED_17       = 17,
+        RESERVED_18       = 18,
+        MANUAL            = 19
+    };
+    static const int modeCount = 20;
+
+    APMSubMode(uint32_t mode, bool settable);
+};
+
+class ArduSubFirmwarePlugin : public APMFirmwarePlugin
+{
+    Q_OBJECT
+
+public:
+    ArduSubFirmwarePlugin(void);
+
+    // Overrides from FirmwarePlugin
+
+};
+
+#endif

src/FirmwarePlugin/FirmwarePluginManager.cc

@@ -15,6 +15,7 @@
 #include "APM/ArduCopterFirmwarePlugin.h"
 #include "APM/ArduPlaneFirmwarePlugin.h"
 #include "APM/ArduRoverFirmwarePlugin.h"
+#include "APM/ArduSubFirmwarePlugin.h"
 #include "PX4/PX4FirmwarePlugin.h"
 
 FirmwarePluginManager::FirmwarePluginManager(QGCApplication* app)
@@ -22,6 +23,7 @@ FirmwarePluginManager::FirmwarePluginManager(QGCApplication* app)
     , _arduCopterFirmwarePlugin(NULL)
     , _arduPlaneFirmwarePlugin(NULL)
     , _arduRoverFirmwarePlugin(NULL)
+    , _arduSubFirmwarePlugin(NULL)
     , _genericFirmwarePlugin(NULL)
     , _px4FirmwarePlugin(NULL)
 {
@@ -33,6 +35,7 @@ FirmwarePluginManager::~FirmwarePluginManager()
     delete _arduCopterFirmwarePlugin;
     delete _arduPlaneFirmwarePlugin;
     delete _arduRoverFirmwarePlugin;
+    delete _arduSubFirmwarePlugin;
     delete _genericFirmwarePlugin;
     delete _px4FirmwarePlugin;
 }
@@ -59,11 +62,15 @@ FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT
             return _arduPlaneFirmwarePlugin;
         case MAV_TYPE_GROUND_ROVER:
         case MAV_TYPE_SURFACE_BOAT:
-        case MAV_TYPE_SUBMARINE:
             if (!_arduRoverFirmwarePlugin) {
                 _arduRoverFirmwarePlugin = new ArduRoverFirmwarePlugin;
             }
             return _arduRoverFirmwarePlugin;
+        case MAV_TYPE_SUBMARINE:
+            if (!_arduSubFirmwarePlugin) {
+                _arduSubFirmwarePlugin = new ArduSubFirmwarePlugin;
+            }
+            return _arduSubFirmwarePlugin;
         default:
             break;
         }

src/FirmwarePlugin/FirmwarePluginManager.h

@@ -24,6 +24,7 @@ class QGCApplication;
 class ArduCopterFirmwarePlugin;
 class ArduPlaneFirmwarePlugin;
 class ArduRoverFirmwarePlugin;
+class ArduSubFirmwarePlugin;
 class PX4FirmwarePlugin;
 
 /// FirmwarePluginManager is a singleton which is used to return the correct FirmwarePlugin for a MAV_AUTOPILOT type.
@@ -49,6 +50,7 @@ private:
     ArduCopterFirmwarePlugin*   _arduCopterFirmwarePlugin;
     ArduPlaneFirmwarePlugin*    _arduPlaneFirmwarePlugin;
     ArduRoverFirmwarePlugin*    _arduRoverFirmwarePlugin;
+    ArduSubFirmwarePlugin*    _arduSubFirmwarePlugin;
     FirmwarePlugin*             _genericFirmwarePlugin;
     PX4FirmwarePlugin*          _px4FirmwarePlugin;
 };