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Valentin Platzgummer
qgroundcontrol
Commits
bb1467be
Unverified
Commit
bb1467be
authored
May 08, 2018
by
Don Gagne
Committed by
GitHub
May 08, 2018
Browse files
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Merge pull request #6430 from DonLakeFlyer/SoloVideo
ArduPilot: Start possible Solo video
parents
8f905240
4f8deb49
Changes
2
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2 changed files
with
8 additions
and
4 deletions
+8
-4
APMFirmwarePlugin.cc
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
+7
-3
APMFirmwarePlugin.h
src/FirmwarePlugin/APM/APMFirmwarePlugin.h
+1
-1
No files found.
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
View file @
bb1467be
...
...
@@ -366,6 +366,8 @@ bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* vehicle, mavlink_mess
supportedMinorNumber
=
4
;
break
;
case
MAV_TYPE_QUADROTOR
:
// Start TCP video handshake with ARTOO in case it's a Solo running ArduPilot firmware
_soloVideoHandshake
(
vehicle
,
false
/* originalSoloFirmware */
);
case
MAV_TYPE_COAXIAL
:
case
MAV_TYPE_HELICOPTER
:
case
MAV_TYPE_SUBMARINE
:
...
...
@@ -420,7 +422,7 @@ bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* vehicle, mavlink_mess
_setInfoSeverity
(
message
);
// Start TCP video handshake with ARTOO
_soloVideoHandshake
(
vehicle
);
_soloVideoHandshake
(
vehicle
,
true
/* originalSoloFirmware */
);
}
else
if
(
messageText
.
contains
(
APM_FRAME_REXP
))
{
// We need to parse the Frame: message in order to determine whether the motors are coaxial or not
QRegExp
frameTypeRegex
(
"^Frame: (
\\
S*)"
);
...
...
@@ -750,14 +752,16 @@ bool APMFirmwarePlugin::isGuidedMode(const Vehicle* vehicle) const
return
vehicle
->
flightMode
()
==
"Guided"
;
}
void
APMFirmwarePlugin
::
_soloVideoHandshake
(
Vehicle
*
vehicle
)
void
APMFirmwarePlugin
::
_soloVideoHandshake
(
Vehicle
*
vehicle
,
bool
originalSoloFirmware
)
{
Q_UNUSED
(
vehicle
);
QTcpSocket
*
socket
=
new
QTcpSocket
();
socket
->
connectToHost
(
_artooIP
,
_artooVideoHandshakePort
);
QObject
::
connect
(
socket
,
static_cast
<
void
(
QTcpSocket
::*
)(
QAbstractSocket
::
SocketError
)
>
(
&
QTcpSocket
::
error
),
this
,
&
APMFirmwarePlugin
::
_artooSocketError
);
if
(
originalSoloFirmware
)
{
QObject
::
connect
(
socket
,
static_cast
<
void
(
QTcpSocket
::*
)(
QAbstractSocket
::
SocketError
)
>
(
&
QTcpSocket
::
error
),
this
,
&
APMFirmwarePlugin
::
_artooSocketError
);
}
}
void
APMFirmwarePlugin
::
_artooSocketError
(
QAbstractSocket
::
SocketError
socketError
)
...
...
src/FirmwarePlugin/APM/APMFirmwarePlugin.h
View file @
bb1467be
...
...
@@ -125,7 +125,7 @@ private:
bool
_handleIncomingStatusText
(
Vehicle
*
vehicle
,
mavlink_message_t
*
message
);
void
_handleIncomingHeartbeat
(
Vehicle
*
vehicle
,
mavlink_message_t
*
message
);
void
_handleOutgoingParamSet
(
Vehicle
*
vehicle
,
LinkInterface
*
outgoingLink
,
mavlink_message_t
*
message
);
void
_soloVideoHandshake
(
Vehicle
*
vehicle
);
void
_soloVideoHandshake
(
Vehicle
*
vehicle
,
bool
originalSoloFirmware
);
bool
_guidedModeTakeoff
(
Vehicle
*
vehicle
,
double
altitudeRel
);
// Any instance data here must be global to all vehicles
...
...
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