From ef4f860e91ca9bfe83ceb207e1a799037e97becc Mon Sep 17 00:00:00 2001
From: pixhawk <pixhawk@student.ethz.ch>
Date: Tue, 18 May 2010 10:09:00 +0200
Subject: [PATCH] Added skeletons for other MAV projects

---
 qgroundcontrol.pro      | 10 ++++++++--
 src/uas/ArduPilotMAV.cc |  7 +++++++
 src/uas/ArduPilotMAV.h  | 12 ++++++++++++
 src/uas/PxQuadMAV.cc    |  6 ++++++
 src/uas/PxQuadMAV.h     | 12 ++++++++++++
 src/uas/SlugsMAV.cc     | 23 +++++++++++++++++++++++
 src/uas/SlugsMAV.h      | 15 +++++++++++++++
 src/uas/UAS.cc          |  2 +-
 8 files changed, 84 insertions(+), 3 deletions(-)
 create mode 100644 src/uas/ArduPilotMAV.cc
 create mode 100644 src/uas/ArduPilotMAV.h
 create mode 100644 src/uas/PxQuadMAV.cc
 create mode 100644 src/uas/PxQuadMAV.h
 create mode 100644 src/uas/SlugsMAV.cc
 create mode 100644 src/uas/SlugsMAV.h

diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 85d707fe5..6f570c883 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -115,7 +115,10 @@ HEADERS += src/MG.h \
     src/ui/param/ParamTreeModel.h \
     src/ui/QGCParamWidget.h \
     src/ui/QGCSensorSettingsWidget.h \
-    src/ui/linechart/Linecharts.h
+    src/ui/linechart/Linecharts.h \
+    src/uas/SlugsMAV.h \
+    src/uas/PxQuadMAV.h \
+    src/uas/ArduPilotMAV.h
 SOURCES += src/main.cc \
     src/Core.cc \
     src/uas/UASManager.cc \
@@ -164,5 +167,8 @@ SOURCES += src/main.cc \
     src/ui/param/ParamTreeModel.cc \
     src/ui/QGCParamWidget.cc \
     src/ui/QGCSensorSettingsWidget.cc \
-    src/ui/linechart/Linecharts.cc
+    src/ui/linechart/Linecharts.cc \
+    src/uas/SlugsMAV.cc \
+    src/uas/PxQuadMAV.cc \
+    src/uas/ArduPilotMAV.cc
 RESOURCES = mavground.qrc
diff --git a/src/uas/ArduPilotMAV.cc b/src/uas/ArduPilotMAV.cc
new file mode 100644
index 000000000..4fb529382
--- /dev/null
+++ b/src/uas/ArduPilotMAV.cc
@@ -0,0 +1,7 @@
+#include "ArduPilotMAV.h"
+
+ArduPilotMAV::ArduPilotMAV(MAVLinkProtocol* mavlink, int id) :
+        UAS(mavlink, id)//,
+        // place other initializers here
+{
+}
diff --git a/src/uas/ArduPilotMAV.h b/src/uas/ArduPilotMAV.h
new file mode 100644
index 000000000..5fda9e089
--- /dev/null
+++ b/src/uas/ArduPilotMAV.h
@@ -0,0 +1,12 @@
+#ifndef ARDUPILOTMAV_H
+#define ARDUPILOTMAV_H
+
+#include "UAS.h"
+
+class ArduPilotMAV : public UAS
+{
+public:
+    ArduPilotMAV(MAVLinkProtocol* mavlink, int id = 0);
+};
+
+#endif // ARDUPILOTMAV_H
diff --git a/src/uas/PxQuadMAV.cc b/src/uas/PxQuadMAV.cc
new file mode 100644
index 000000000..65c2eee31
--- /dev/null
+++ b/src/uas/PxQuadMAV.cc
@@ -0,0 +1,6 @@
+#include "PxQuadMAV.h"
+
+PxQuadMAV::PxQuadMAV(MAVLinkProtocol* mavlink, int id) :
+        UAS(mavlink, id)
+{
+}
diff --git a/src/uas/PxQuadMAV.h b/src/uas/PxQuadMAV.h
new file mode 100644
index 000000000..ec9492886
--- /dev/null
+++ b/src/uas/PxQuadMAV.h
@@ -0,0 +1,12 @@
+#ifndef PXQUADMAV_H
+#define PXQUADMAV_H
+
+#include "UAS.h"
+
+class PxQuadMAV : public UAS
+{
+public:
+    PxQuadMAV(MAVLinkProtocol* mavlink, int id);
+};
+
+#endif // PXQUADMAV_H
diff --git a/src/uas/SlugsMAV.cc b/src/uas/SlugsMAV.cc
new file mode 100644
index 000000000..4c10f5016
--- /dev/null
+++ b/src/uas/SlugsMAV.cc
@@ -0,0 +1,23 @@
+#include "SlugsMAV.h"
+
+SlugsMAV::SlugsMAV(MAVLinkProtocol* mavlink, int id) :
+        UAS(mavlink, id)//,
+        // Place other initializers here
+{
+}
+
+
+void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
+{
+    switch (message.msgid)
+    {
+    case MAVLINK_MSG_ID_HEARTBEAT:
+        {
+            printf("RECEIVED HEARTBEAT");
+            break;
+        }
+    default:
+        printf("\nSLUGS RECEIVED MESSAGE WITH ID %d", message.msgid);
+        break;
+    }
+}
diff --git a/src/uas/SlugsMAV.h b/src/uas/SlugsMAV.h
new file mode 100644
index 000000000..e4d871463
--- /dev/null
+++ b/src/uas/SlugsMAV.h
@@ -0,0 +1,15 @@
+#ifndef SLUGSMAV_H
+#define SLUGSMAV_H
+
+#include "UAS.h"
+
+class SlugsMAV : public UAS
+{
+public:
+    SlugsMAV(MAVLinkProtocol* mavlink, int id = 0);
+
+public slots:
+    void receiveMessage(LinkInterface* link, mavlink_message_t message);
+};
+
+#endif // SLUGSMAV_H
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index e48508601..8c43b3ef1 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -144,7 +144,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_msg_sys_status_decode(&message, &state);
 
                 // FIXME
-                qDebug() << "SYSTEM NAV MODE:" << state.nav_mode;
+                //qDebug() << "SYSTEM NAV MODE:" << state.nav_mode;
 
                 QString audiostring = "System " + QString::number(this->getUASID());
                 QString stateAudio = "";
-- 
2.22.0