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Valentin Platzgummer
qgroundcontrol
Commits
f50c15f1
Commit
f50c15f1
authored
Dec 05, 2013
by
Thomas Gubler
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set_mode fix: cleanup
parent
aa9dfa23
Changes
1
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1 changed file
with
2 additions
and
35 deletions
+2
-35
UAS.cc
src/uas/UAS.cc
+2
-35
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src/uas/UAS.cc
View file @
f50c15f1
...
...
@@ -1847,7 +1847,7 @@ void UAS::setMode(uint8_t newBaseMode, uint32_t newCustomMode)
}
else
{
qDebug
()
<<
"WARNING: setMode called before base_mode bitmask was received from UAS"
;
qDebug
()
<<
"WARNING: setMode called before base_mode bitmask was received from UAS
, new mode was not sent to system
"
;
}
}
...
...
@@ -1867,7 +1867,7 @@ void UAS::setModeArm(uint8_t newBaseMode, uint32_t newCustomMode)
}
else
{
qDebug
()
<<
"WARNING: setModeArm called before base_mode bitmask was received from UAS"
;
qDebug
()
<<
"WARNING: setModeArm called before base_mode bitmask was received from UAS
, new mode was not sent to system
"
;
}
}
...
...
@@ -2744,10 +2744,7 @@ void UAS::launch()
*/
void
UAS
::
armSystem
()
{
// mavlink_message_t msg;
setModeArm
(
base_mode
|
MAV_MODE_FLAG_SAFETY_ARMED
,
custom_mode
);
// mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), base_mode | MAV_MODE_FLAG_SAFETY_ARMED, custom_mode);
// sendMessage(msg);
}
/**
...
...
@@ -2756,42 +2753,27 @@ void UAS::armSystem()
*/
void
UAS
::
disarmSystem
()
{
// mavlink_message_t msg;
setModeArm
(
base_mode
&
~
MAV_MODE_FLAG_SAFETY_ARMED
,
custom_mode
);
// mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), base_mode & ~MAV_MODE_FLAG_SAFETY_ARMED, custom_mode);
// sendMessage(msg);
}
void
UAS
::
toggleArmedState
()
{
// mavlink_message_t msg;
setModeArm
(
base_mode
^
MAV_MODE_FLAG_SAFETY_ARMED
,
custom_mode
);
// mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), base_mode ^ MAV_MODE_FLAG_SAFETY_ARMED, custom_mode);
// sendMessage(msg);
}
void
UAS
::
goAutonomous
()
{
// mavlink_message_t msg;
setMode
(
base_mode
|
MAV_MODE_FLAG_AUTO_ENABLED
,
custom_mode
);
// mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_MODE_FLAG_AUTO_ENABLED, 0);
// sendMessage(msg);
}
void
UAS
::
goManual
()
{
// mavlink_message_t msg;
setMode
(
base_mode
|
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
,
custom_mode
);
// mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_MODE_FLAG_MANUAL_INPUT_ENABLED, 0);
// sendMessage(msg);
}
void
UAS
::
toggleAutonomy
()
{
// mavlink_message_t msg;
setMode
(
base_mode
^
MAV_MODE_FLAG_AUTO_ENABLED
^
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
,
custom_mode
);
// mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), base_mode ^ MAV_MODE_FLAG_AUTO_ENABLED ^ MAV_MODE_FLAG_MANUAL_INPUT_ENABLED, 0);
// sendMessage(msg);
}
/**
...
...
@@ -3151,10 +3133,7 @@ void UAS::sendHilState(quint64 time_us, float roll, float pitch, float yaw, floa
else
{
// Attempt to set HIL mode
// mavlink_message_t msg;
setMode
(
base_mode
|
MAV_MODE_FLAG_HIL_ENABLED
,
custom_mode
);
// mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), base_mode | MAV_MODE_FLAG_HIL_ENABLED, custom_mode);
// sendMessage(msg);
qDebug
()
<<
__FILE__
<<
__LINE__
<<
"HIL is onboard not enabled, trying to enable."
;
}
}
...
...
@@ -3179,10 +3158,7 @@ void UAS::sendHilSensors(quint64 time_us, float xacc, float yacc, float zacc, fl
else
{
// Attempt to set HIL mode
// mavlink_message_t msg;
setMode
(
base_mode
|
MAV_MODE_FLAG_HIL_ENABLED
,
custom_mode
);
// mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), base_mode | MAV_MODE_FLAG_HIL_ENABLED, custom_mode);
// sendMessage(msg);
qDebug
()
<<
__FILE__
<<
__LINE__
<<
"HIL is onboard not enabled, trying to enable."
;
}
}
...
...
@@ -3211,10 +3187,7 @@ void UAS::sendHilGps(quint64 time_us, double lat, double lon, double alt, int fi
else
{
// Attempt to set HIL mode
// mavlink_message_t msg;
setMode
(
base_mode
|
MAV_MODE_FLAG_HIL_ENABLED
,
custom_mode
);
// mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), base_mode | MAV_MODE_FLAG_HIL_ENABLED, custom_mode);
// sendMessage(msg);
qDebug
()
<<
__FILE__
<<
__LINE__
<<
"HIL is onboard not enabled, trying to enable."
;
}
}
...
...
@@ -3228,10 +3201,7 @@ void UAS::startHil()
if
(
hilEnabled
)
return
;
hilEnabled
=
true
;
sensorHil
=
false
;
// mavlink_message_t msg;
setMode
(
base_mode
|
MAV_MODE_FLAG_HIL_ENABLED
,
custom_mode
);
// mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), base_mode | MAV_MODE_FLAG_HIL_ENABLED, custom_mode);
// sendMessage(msg);
// Connect HIL simulation link
simulation
->
connectSimulation
();
}
...
...
@@ -3242,10 +3212,7 @@ void UAS::startHil()
void
UAS
::
stopHil
()
{
if
(
simulation
)
simulation
->
disconnectSimulation
();
// mavlink_message_t msg;
// mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), base_mode & ~MAV_MODE_FLAG_HIL_ENABLED, custom_mode);
setMode
(
base_mode
&
~
MAV_MODE_FLAG_HIL_ENABLED
,
custom_mode
);
// sendMessage(msg);
hilEnabled
=
false
;
sensorHil
=
false
;
}
...
...
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