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Commit f38fc465 authored by lm's avatar lm
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write read eeprom added, actions updated

parent 0566491b
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Showing with 45 additions and 20 deletions
src/uas/UAS.cc
View file @ f38fc465
......@@ -661,10 +661,20 @@ void UAS::requestParameters()
sendMessage(msg);
}
void UAS::writeParameters()
void UAS::writeParametersToStorage()
{
//mavlink_message_t msg;
qDebug() << __FILE__ << __LINE__ << __func__ << "IS NOT IMPLEMENTED!";
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_STORAGE_WRITE);
sendMessage(msg);
}
void UAS::readParametersFromStorage()
{
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,(uint8_t)MAV_ACTION_STORAGE_READ);
sendMessage(msg);
}
void UAS::enableAllDataTransmission(bool enabled)
......@@ -929,7 +939,7 @@ void UAS::launch()
{
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),(uint8_t)MAV_ACTION_LAUNCH);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_LAUNCH);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
......@@ -943,7 +953,7 @@ void UAS::enable_motors()
{
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),(uint8_t)MAV_ACTION_MOTORS_START);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_MOTORS_START);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
......@@ -957,7 +967,7 @@ void UAS::disable_motors()
{
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),(uint8_t)MAV_ACTION_MOTORS_STOP);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_MOTORS_STOP);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
......@@ -1069,7 +1079,7 @@ void UAS::halt()
{
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_HALT);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_HALT);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
......@@ -1079,7 +1089,7 @@ void UAS::go()
{
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_CONTINUE);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_CONTINUE);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
......@@ -1090,7 +1100,7 @@ void UAS::home()
{
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_RETURN);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_RETURN);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
......@@ -1104,7 +1114,7 @@ void UAS::emergencySTOP()
{
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_EMCY_LAND);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_EMCY_LAND);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
......@@ -1135,7 +1145,7 @@ bool UAS::emergencyKILL()
{
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_EMCY_KILL);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_EMCY_KILL);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
......@@ -1164,7 +1174,7 @@ void UAS::shutdown()
// If the active UAS is set, execute command
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_SHUTDOWN);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,(int)MAV_ACTION_SHUTDOWN);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
......
src/uas/UAS.h
View file @ f38fc465
......@@ -200,7 +200,9 @@ public slots:
void setParameter(int component, QString id, float value);
/** @brief Write parameters to permanent storage */
void writeParameters();
void writeParametersToStorage();
/** @brief Read parameters from permanent storage */
void readParametersFromStorage();
void enableAllDataTransmission(bool enabled);
void enableRawSensorDataTransmission(bool enabled);
......
src/uas/UASInterface.h
View file @ f38fc465
......@@ -173,7 +173,9 @@ public slots:
/** @brief Request all onboard parameters of all components */
virtual void requestParameters() = 0;
/** @brief Write parameter to permanent storage */
virtual void writeParameters() = 0;
virtual void writeParametersToStorage() = 0;
/** @brief Read parameter from permanent storage */
virtual void readParametersFromStorage() = 0;
/** @brief Set a system parameter
* @param component ID of the system component to write the parameter to
* @param id String identifying the parameter
......
src/ui/QGCParamWidget.cc
View file @ f38fc465
......@@ -64,18 +64,22 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
horizontalLayout->setSizeConstraint(QLayout::SetMinimumSize);
horizontalLayout->addWidget(tree, 0, 0, 1, 3);
QPushButton* readButton = new QPushButton(tr("Read"));
connect(readButton, SIGNAL(clicked()), this, SLOT(requestParameterList()));
horizontalLayout->addWidget(readButton, 1, 0);
QPushButton* refreshButton = new QPushButton(tr("Refresh"));
connect(refreshButton, SIGNAL(clicked()), this, SLOT(requestParameterList()));
horizontalLayout->addWidget(refreshButton, 1, 0);
QPushButton* setButton = new QPushButton(tr("Set (RAM)"));
QPushButton* setButton = new QPushButton(tr("Transmit"));
connect(setButton, SIGNAL(clicked()), this, SLOT(setParameters()));
horizontalLayout->addWidget(setButton, 1, 1);
QPushButton* writeButton = new QPushButton(tr("Write (Disk)"));
QPushButton* writeButton = new QPushButton(tr("Write (ROM)"));
connect(writeButton, SIGNAL(clicked()), this, SLOT(writeParameters()));
horizontalLayout->addWidget(writeButton, 1, 2);
QPushButton* readButton = new QPushButton(tr("Read (ROM)"));
connect(readButton, SIGNAL(clicked()), this, SLOT(readParameters()));
horizontalLayout->addWidget(readButton, 2, 2);
QPushButton* loadFileButton = new QPushButton(tr("Load File"));
connect(loadFileButton, SIGNAL(clicked()), this, SLOT(loadParameters()));
horizontalLayout->addWidget(loadFileButton, 2, 0);
......@@ -432,7 +436,12 @@ void QGCParamWidget::setParameters()
*/
void QGCParamWidget::writeParameters()
{
mav->writeParameters();
mav->writeParametersToStorage();
}
void QGCParamWidget::readParameters()
{
mav->readParametersFromStorage();
}
/**
......
src/ui/QGCParamWidget.h
View file @ f38fc465
......@@ -65,6 +65,8 @@ public slots:
void setParameters();
/** @brief Write the current parameters to permanent storage (EEPROM/HDD) */
void writeParameters();
/** @brief Read the parameters from permanent storage to RAM */
void readParameters();
/** @brief Clear the parameter list */
void clear();
/** @brief Update when user changes parameters */
......
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