From fcf9a1dc16e03f7956776c63c15a2a37da002af9 Mon Sep 17 00:00:00 2001 From: DonLakeFlyer Date: Wed, 25 Oct 2017 14:53:06 -0700 Subject: [PATCH] Move VTOL fixes --- src/FirmwarePlugin/APM/APMFirmwarePlugin.cc | 21 ++++++++++++++++++++ src/MissionManager/MissionCommandTreeTest.cc | 4 ++++ 2 files changed, 25 insertions(+) diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc index a9b993f72..5298480d0 100644 --- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc +++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc @@ -354,6 +354,13 @@ bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* vehicle, mavlink_mess int supportedMinorNumber = -1; switch (vehicle->vehicleType()) { + case MAV_TYPE_VTOL_DUOROTOR: + case MAV_TYPE_VTOL_QUADROTOR: + case MAV_TYPE_VTOL_TILTROTOR: + case MAV_TYPE_VTOL_RESERVED2: + case MAV_TYPE_VTOL_RESERVED3: + case MAV_TYPE_VTOL_RESERVED4: + case MAV_TYPE_VTOL_RESERVED5: case MAV_TYPE_FIXED_WING: supportedMajorNumber = 3; supportedMinorNumber = 4; @@ -602,6 +609,13 @@ void APMFirmwarePlugin::initializeVehicle(Vehicle* vehicle) case MAV_TYPE_HELICOPTER: vehicle->setFirmwareVersion(3, 4, 0); break; + case MAV_TYPE_VTOL_DUOROTOR: + case MAV_TYPE_VTOL_QUADROTOR: + case MAV_TYPE_VTOL_TILTROTOR: + case MAV_TYPE_VTOL_RESERVED2: + case MAV_TYPE_VTOL_RESERVED3: + case MAV_TYPE_VTOL_RESERVED4: + case MAV_TYPE_VTOL_RESERVED5: case MAV_TYPE_FIXED_WING: vehicle->setFirmwareVersion(3, 5, 0); break; @@ -774,6 +788,13 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle) } } return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.5.xml"); + case MAV_TYPE_VTOL_DUOROTOR: + case MAV_TYPE_VTOL_QUADROTOR: + case MAV_TYPE_VTOL_TILTROTOR: + case MAV_TYPE_VTOL_RESERVED2: + case MAV_TYPE_VTOL_RESERVED3: + case MAV_TYPE_VTOL_RESERVED4: + case MAV_TYPE_VTOL_RESERVED5: case MAV_TYPE_FIXED_WING: if (majorVersion < 3) { return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.3.xml"); diff --git a/src/MissionManager/MissionCommandTreeTest.cc b/src/MissionManager/MissionCommandTreeTest.cc index 56931d0b3..bd16a41f5 100644 --- a/src/MissionManager/MissionCommandTreeTest.cc +++ b/src/MissionManager/MissionCommandTreeTest.cc @@ -195,6 +195,10 @@ void MissionCommandTreeTest::testAllTrees(void) // This will cause all of the variants of collapsed trees to be built foreach(MAV_AUTOPILOT firmwareType, firmwareList) { foreach (MAV_TYPE vehicleType, vehicleList) { + if (firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA && vehicleType == MAV_TYPE_VTOL_QUADROTOR) { + // VTOL in ArduPilot shows up as plane so we can test this pair + continue; + } qDebug() << firmwareType << vehicleType; Vehicle* vehicle = new Vehicle(firmwareType, vehicleType, qgcApp()->toolbox()->firmwarePluginManager()); QVERIFY(qgcApp()->toolbox()->missionCommandTree()->getUIInfo(vehicle, MAV_CMD_NAV_WAYPOINT) != NULL); -- 2.22.0