/**************************************************************************** * * (c) 2009-2020 QGROUNDCONTROL PROJECT * * QGroundControl is licensed according to the terms in the file * COPYING.md in the root of the source code directory. * ****************************************************************************/ #pragma once #include #include #include #include #include "FactGroup.h" #include "LinkInterface.h" #include "QGCMAVLink.h" #include "QmlObjectListModel.h" #include "MAVLinkProtocol.h" #include "UASMessageHandler.h" #include "SettingsFact.h" #include "QGCMapCircle.h" class UAS; class UASInterface; class FirmwarePlugin; class FirmwarePluginManager; class AutoPilotPlugin; class MissionManager; class GeoFenceManager; class RallyPointManager; class ParameterManager; class JoystickManager; class UASMessage; class SettingsManager; class QGCCameraManager; class Joystick; class VehicleObjectAvoidance; class TrajectoryPoints; #if defined(QGC_AIRMAP_ENABLED) class AirspaceVehicleManager; #endif Q_DECLARE_LOGGING_CATEGORY(VehicleLog) class Vehicle; class VehicleDistanceSensorFactGroup : public FactGroup { Q_OBJECT public: VehicleDistanceSensorFactGroup(QObject* parent = nullptr); Q_PROPERTY(Fact* rotationNone READ rotationNone CONSTANT) Q_PROPERTY(Fact* rotationYaw45 READ rotationYaw45 CONSTANT) Q_PROPERTY(Fact* rotationYaw90 READ rotationYaw90 CONSTANT) Q_PROPERTY(Fact* rotationYaw135 READ rotationYaw135 CONSTANT) Q_PROPERTY(Fact* rotationYaw180 READ rotationYaw180 CONSTANT) Q_PROPERTY(Fact* rotationYaw225 READ rotationYaw225 CONSTANT) Q_PROPERTY(Fact* rotationYaw270 READ rotationYaw270 CONSTANT) Q_PROPERTY(Fact* rotationYaw315 READ rotationYaw315 CONSTANT) Q_PROPERTY(Fact* rotationPitch90 READ rotationPitch90 CONSTANT) Q_PROPERTY(Fact* rotationPitch270 READ rotationPitch270 CONSTANT) Fact* rotationNone () { return &_rotationNoneFact; } Fact* rotationYaw45 () { return &_rotationYaw45Fact; } Fact* rotationYaw90 () { return &_rotationYaw90Fact; } Fact* rotationYaw135 () { return &_rotationYaw90Fact; } Fact* rotationYaw180 () { return &_rotationYaw180Fact; } Fact* rotationYaw225 () { return &_rotationYaw180Fact; } Fact* rotationYaw270 () { return &_rotationYaw270Fact; } Fact* rotationYaw315 () { return &_rotationYaw315Fact; } Fact* rotationPitch90 () { return &_rotationPitch90Fact; } Fact* rotationPitch270 () { return &_rotationPitch270Fact; } static const char* _rotationNoneFactName; static const char* _rotationYaw45FactName; static const char* _rotationYaw90FactName; static const char* _rotationYaw135FactName; static const char* _rotationYaw180FactName; static const char* _rotationYaw225FactName; static const char* _rotationYaw270FactName; static const char* _rotationYaw315FactName; static const char* _rotationPitch90FactName; static const char* _rotationPitch270FactName; private: Fact _rotationNoneFact; Fact _rotationYaw45Fact; Fact _rotationYaw90Fact; Fact _rotationYaw135Fact; Fact _rotationYaw180Fact; Fact _rotationYaw225Fact; Fact _rotationYaw270Fact; Fact _rotationYaw315Fact; Fact _rotationPitch90Fact; Fact _rotationPitch270Fact; }; class VehicleSetpointFactGroup : public FactGroup { Q_OBJECT public: VehicleSetpointFactGroup(QObject* parent = nullptr); Q_PROPERTY(Fact* roll READ roll CONSTANT) Q_PROPERTY(Fact* pitch READ pitch CONSTANT) Q_PROPERTY(Fact* yaw READ yaw CONSTANT) Q_PROPERTY(Fact* rollRate READ rollRate CONSTANT) Q_PROPERTY(Fact* pitchRate READ pitchRate CONSTANT) Q_PROPERTY(Fact* yawRate READ yawRate CONSTANT) Fact* roll () { return &_rollFact; } Fact* pitch () { return &_pitchFact; } Fact* yaw () { return &_yawFact; } Fact* rollRate () { return &_rollRateFact; } Fact* pitchRate () { return &_pitchRateFact; } Fact* yawRate () { return &_yawRateFact; } static const char* _rollFactName; static const char* _pitchFactName; static const char* _yawFactName; static const char* _rollRateFactName; static const char* _pitchRateFactName; static const char* _yawRateFactName; private: Fact _rollFact; Fact _pitchFact; Fact _yawFact; Fact _rollRateFact; Fact _pitchRateFact; Fact _yawRateFact; }; class VehicleVibrationFactGroup : public FactGroup { Q_OBJECT public: VehicleVibrationFactGroup(QObject* parent = nullptr); Q_PROPERTY(Fact* xAxis READ xAxis CONSTANT) Q_PROPERTY(Fact* yAxis READ yAxis CONSTANT) Q_PROPERTY(Fact* zAxis READ zAxis CONSTANT) Q_PROPERTY(Fact* clipCount1 READ clipCount1 CONSTANT) Q_PROPERTY(Fact* clipCount2 READ clipCount2 CONSTANT) Q_PROPERTY(Fact* clipCount3 READ clipCount3 CONSTANT) Fact* xAxis () { return &_xAxisFact; } Fact* yAxis () { return &_yAxisFact; } Fact* zAxis () { return &_zAxisFact; } Fact* clipCount1 () { return &_clipCount1Fact; } Fact* clipCount2 () { return &_clipCount2Fact; } Fact* clipCount3 () { return &_clipCount3Fact; } static const char* _xAxisFactName; static const char* _yAxisFactName; static const char* _zAxisFactName; static const char* _clipCount1FactName; static const char* _clipCount2FactName; static const char* _clipCount3FactName; private: Fact _xAxisFact; Fact _yAxisFact; Fact _zAxisFact; Fact _clipCount1Fact; Fact _clipCount2Fact; Fact _clipCount3Fact; }; class VehicleWindFactGroup : public FactGroup { Q_OBJECT public: VehicleWindFactGroup(QObject* parent = nullptr); Q_PROPERTY(Fact* direction READ direction CONSTANT) Q_PROPERTY(Fact* speed READ speed CONSTANT) Q_PROPERTY(Fact* verticalSpeed READ verticalSpeed CONSTANT) Fact* direction () { return &_directionFact; } Fact* speed () { return &_speedFact; } Fact* verticalSpeed () { return &_verticalSpeedFact; } static const char* _directionFactName; static const char* _speedFactName; static const char* _verticalSpeedFactName; private: Fact _directionFact; Fact _speedFact; Fact _verticalSpeedFact; }; class VehicleGPSFactGroup : public FactGroup { Q_OBJECT public: VehicleGPSFactGroup(QObject* parent = nullptr); Q_PROPERTY(Fact* lat READ lat CONSTANT) Q_PROPERTY(Fact* lon READ lon CONSTANT) Q_PROPERTY(Fact* mgrs READ mgrs CONSTANT) Q_PROPERTY(Fact* hdop READ hdop CONSTANT) Q_PROPERTY(Fact* vdop READ vdop CONSTANT) Q_PROPERTY(Fact* courseOverGround READ courseOverGround CONSTANT) Q_PROPERTY(Fact* count READ count CONSTANT) Q_PROPERTY(Fact* lock READ lock CONSTANT) Fact* lat () { return &_latFact; } Fact* lon () { return &_lonFact; } Fact* mgrs () { return &_mgrsFact; } Fact* hdop () { return &_hdopFact; } Fact* vdop () { return &_vdopFact; } Fact* courseOverGround () { return &_courseOverGroundFact; } Fact* count () { return &_countFact; } Fact* lock () { return &_lockFact; } static const char* _latFactName; static const char* _lonFactName; static const char* _mgrsFactName; static const char* _hdopFactName; static const char* _vdopFactName; static const char* _courseOverGroundFactName; static const char* _countFactName; static const char* _lockFactName; private: Fact _latFact; Fact _lonFact; Fact _mgrsFact; Fact _hdopFact; Fact _vdopFact; Fact _courseOverGroundFact; Fact _countFact; Fact _lockFact; }; class VehicleBatteryFactGroup : public FactGroup { Q_OBJECT public: VehicleBatteryFactGroup(QObject* parent = nullptr); Q_PROPERTY(Fact* voltage READ voltage CONSTANT) Q_PROPERTY(Fact* percentRemaining READ percentRemaining CONSTANT) Q_PROPERTY(Fact* mahConsumed READ mahConsumed CONSTANT) Q_PROPERTY(Fact* current READ current CONSTANT) Q_PROPERTY(Fact* temperature READ temperature CONSTANT) Q_PROPERTY(Fact* instantPower READ instantPower CONSTANT) Q_PROPERTY(Fact* timeRemaining READ timeRemaining CONSTANT) Q_PROPERTY(Fact* chargeState READ chargeState CONSTANT) Fact* voltage () { return &_voltageFact; } Fact* percentRemaining () { return &_percentRemainingFact; } Fact* mahConsumed () { return &_mahConsumedFact; } Fact* current () { return &_currentFact; } Fact* temperature () { return &_temperatureFact; } Fact* instantPower () { return &_instantPowerFact; } Fact* timeRemaining () { return &_timeRemainingFact; } Fact* chargeState () { return &_chargeStateFact; } static const char* _voltageFactName; static const char* _percentRemainingFactName; static const char* _mahConsumedFactName; static const char* _currentFactName; static const char* _temperatureFactName; static const char* _instantPowerFactName; static const char* _timeRemainingFactName; static const char* _chargeStateFactName; static const char* _settingsGroup; private: Fact _voltageFact; Fact _percentRemainingFact; Fact _mahConsumedFact; Fact _currentFact; Fact _temperatureFact; Fact _instantPowerFact; Fact _timeRemainingFact; Fact _chargeStateFact; }; class VehicleTemperatureFactGroup : public FactGroup { Q_OBJECT public: VehicleTemperatureFactGroup(QObject* parent = nullptr); Q_PROPERTY(Fact* temperature1 READ temperature1 CONSTANT) Q_PROPERTY(Fact* temperature2 READ temperature2 CONSTANT) Q_PROPERTY(Fact* temperature3 READ temperature3 CONSTANT) Fact* temperature1 () { return &_temperature1Fact; } Fact* temperature2 () { return &_temperature2Fact; } Fact* temperature3 () { return &_temperature3Fact; } static const char* _temperature1FactName; static const char* _temperature2FactName; static const char* _temperature3FactName; static const char* _settingsGroup; static const double _temperatureUnavailable; private: Fact _temperature1Fact; Fact _temperature2Fact; Fact _temperature3Fact; }; class VehicleClockFactGroup : public FactGroup { Q_OBJECT public: VehicleClockFactGroup(QObject* parent = nullptr); Q_PROPERTY(Fact* currentTime READ currentTime CONSTANT) Q_PROPERTY(Fact* currentDate READ currentDate CONSTANT) Fact* currentTime () { return &_currentTimeFact; } Fact* currentDate () { return &_currentDateFact; } static const char* _currentTimeFactName; static const char* _currentDateFactName; static const char* _settingsGroup; private slots: void _updateAllValues() override; private: Fact _currentTimeFact; Fact _currentDateFact; }; class VehicleEstimatorStatusFactGroup : public FactGroup { Q_OBJECT public: VehicleEstimatorStatusFactGroup(QObject* parent = nullptr); Q_PROPERTY(Fact* goodAttitudeEstimate READ goodAttitudeEstimate CONSTANT) Q_PROPERTY(Fact* goodHorizVelEstimate READ goodHorizVelEstimate CONSTANT) Q_PROPERTY(Fact* goodVertVelEstimate READ goodVertVelEstimate CONSTANT) Q_PROPERTY(Fact* goodHorizPosRelEstimate READ goodHorizPosRelEstimate CONSTANT) Q_PROPERTY(Fact* goodHorizPosAbsEstimate READ goodHorizPosAbsEstimate CONSTANT) Q_PROPERTY(Fact* goodVertPosAbsEstimate READ goodVertPosAbsEstimate CONSTANT) Q_PROPERTY(Fact* goodVertPosAGLEstimate READ goodVertPosAGLEstimate CONSTANT) Q_PROPERTY(Fact* goodConstPosModeEstimate READ goodConstPosModeEstimate CONSTANT) Q_PROPERTY(Fact* goodPredHorizPosRelEstimate READ goodPredHorizPosRelEstimate CONSTANT) Q_PROPERTY(Fact* goodPredHorizPosAbsEstimate READ goodPredHorizPosAbsEstimate CONSTANT) Q_PROPERTY(Fact* gpsGlitch READ gpsGlitch CONSTANT) Q_PROPERTY(Fact* accelError READ accelError CONSTANT) Q_PROPERTY(Fact* velRatio READ velRatio CONSTANT) Q_PROPERTY(Fact* horizPosRatio READ horizPosRatio CONSTANT) Q_PROPERTY(Fact* vertPosRatio READ vertPosRatio CONSTANT) Q_PROPERTY(Fact* magRatio READ magRatio CONSTANT) Q_PROPERTY(Fact* haglRatio READ haglRatio CONSTANT) Q_PROPERTY(Fact* tasRatio READ tasRatio CONSTANT) Q_PROPERTY(Fact* horizPosAccuracy READ horizPosAccuracy CONSTANT) Q_PROPERTY(Fact* vertPosAccuracy READ vertPosAccuracy CONSTANT) Fact* goodAttitudeEstimate () { return &_goodAttitudeEstimateFact; } Fact* goodHorizVelEstimate () { return &_goodHorizVelEstimateFact; } Fact* goodVertVelEstimate () { return &_goodVertVelEstimateFact; } Fact* goodHorizPosRelEstimate () { return &_goodHorizPosRelEstimateFact; } Fact* goodHorizPosAbsEstimate () { return &_goodHorizPosAbsEstimateFact; } Fact* goodVertPosAbsEstimate () { return &_goodVertPosAbsEstimateFact; } Fact* goodVertPosAGLEstimate () { return &_goodVertPosAGLEstimateFact; } Fact* goodConstPosModeEstimate () { return &_goodConstPosModeEstimateFact; } Fact* goodPredHorizPosRelEstimate () { return &_goodPredHorizPosRelEstimateFact; } Fact* goodPredHorizPosAbsEstimate () { return &_goodPredHorizPosAbsEstimateFact; } Fact* gpsGlitch () { return &_gpsGlitchFact; } Fact* accelError () { return &_accelErrorFact; } Fact* velRatio () { return &_velRatioFact; } Fact* horizPosRatio () { return &_horizPosRatioFact; } Fact* vertPosRatio () { return &_vertPosRatioFact; } Fact* magRatio () { return &_magRatioFact; } Fact* haglRatio () { return &_haglRatioFact; } Fact* tasRatio () { return &_tasRatioFact; } Fact* horizPosAccuracy () { return &_horizPosAccuracyFact; } Fact* vertPosAccuracy () { return &_vertPosAccuracyFact; } static const char* _goodAttitudeEstimateFactName; static const char* _goodHorizVelEstimateFactName; static const char* _goodVertVelEstimateFactName; static const char* _goodHorizPosRelEstimateFactName; static const char* _goodHorizPosAbsEstimateFactName; static const char* _goodVertPosAbsEstimateFactName; static const char* _goodVertPosAGLEstimateFactName; static const char* _goodConstPosModeEstimateFactName; static const char* _goodPredHorizPosRelEstimateFactName; static const char* _goodPredHorizPosAbsEstimateFactName; static const char* _gpsGlitchFactName; static const char* _accelErrorFactName; static const char* _velRatioFactName; static const char* _horizPosRatioFactName; static const char* _vertPosRatioFactName; static const char* _magRatioFactName; static const char* _haglRatioFactName; static const char* _tasRatioFactName; static const char* _horizPosAccuracyFactName; static const char* _vertPosAccuracyFactName; private: Fact _goodAttitudeEstimateFact; Fact _goodHorizVelEstimateFact; Fact _goodVertVelEstimateFact; Fact _goodHorizPosRelEstimateFact; Fact _goodHorizPosAbsEstimateFact; Fact _goodVertPosAbsEstimateFact; Fact _goodVertPosAGLEstimateFact; Fact _goodConstPosModeEstimateFact; Fact _goodPredHorizPosRelEstimateFact; Fact _goodPredHorizPosAbsEstimateFact; Fact _gpsGlitchFact; Fact _accelErrorFact; Fact _velRatioFact; Fact _horizPosRatioFact; Fact _vertPosRatioFact; Fact _magRatioFact; Fact _haglRatioFact; Fact _tasRatioFact; Fact _horizPosAccuracyFact; Fact _vertPosAccuracyFact; #if 0 typedef enum ESTIMATOR_STATUS_FLAGS { ESTIMATOR_ATTITUDE=1, /* True if the attitude estimate is good | */ ESTIMATOR_VELOCITY_HORIZ=2, /* True if the horizontal velocity estimate is good | */ ESTIMATOR_VELOCITY_VERT=4, /* True if the vertical velocity estimate is good | */ ESTIMATOR_POS_HORIZ_REL=8, /* True if the horizontal position (relative) estimate is good | */ ESTIMATOR_POS_HORIZ_ABS=16, /* True if the horizontal position (absolute) estimate is good | */ ESTIMATOR_POS_VERT_ABS=32, /* True if the vertical position (absolute) estimate is good | */ ESTIMATOR_POS_VERT_AGL=64, /* True if the vertical position (above ground) estimate is good | */ ESTIMATOR_CONST_POS_MODE=128, /* True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow) | */ ESTIMATOR_PRED_POS_HORIZ_REL=256, /* True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate | */ ESTIMATOR_PRED_POS_HORIZ_ABS=512, /* True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate | */ ESTIMATOR_GPS_GLITCH=1024, /* True if the EKF has detected a GPS glitch | */ ESTIMATOR_ACCEL_ERROR=2048, /* True if the EKF has detected bad accelerometer data | */ typedef struct __mavlink_estimator_status_t { uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/ float vel_ratio; /*< Velocity innovation test ratio*/ float pos_horiz_ratio; /*< Horizontal position innovation test ratio*/ float pos_vert_ratio; /*< Vertical position innovation test ratio*/ float mag_ratio; /*< Magnetometer innovation test ratio*/ float hagl_ratio; /*< Height above terrain innovation test ratio*/ float tas_ratio; /*< True airspeed innovation test ratio*/ float pos_horiz_accuracy; /*< Horizontal position 1-STD accuracy relative to the EKF local origin (m)*/ float pos_vert_accuracy; /*< Vertical position 1-STD accuracy relative to the EKF local origin (m)*/ uint16_t flags; /*< Integer bitmask indicating which EKF outputs are valid. See definition for ESTIMATOR_STATUS_FLAGS.*/ } mavlink_estimator_status_t; }; #endif }; class Vehicle : public FactGroup { Q_OBJECT public: Vehicle(LinkInterface* link, int vehicleId, int defaultComponentId, MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType, FirmwarePluginManager* firmwarePluginManager, JoystickManager* joystickManager); // The following is used to create a disconnected Vehicle for use while offline editing. Vehicle(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType, FirmwarePluginManager* firmwarePluginManager, QObject* parent = nullptr); ~Vehicle(); /// Sensor bits from sensors*Bits properties enum MavlinkSysStatus { SysStatusSensor3dGyro = MAV_SYS_STATUS_SENSOR_3D_GYRO, SysStatusSensor3dAccel = MAV_SYS_STATUS_SENSOR_3D_ACCEL, SysStatusSensor3dMag = MAV_SYS_STATUS_SENSOR_3D_MAG, SysStatusSensorAbsolutePressure = MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE, SysStatusSensorDifferentialPressure = MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE, SysStatusSensorGPS = MAV_SYS_STATUS_SENSOR_GPS, SysStatusSensorOpticalFlow = MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW, SysStatusSensorVisionPosition = MAV_SYS_STATUS_SENSOR_VISION_POSITION, SysStatusSensorLaserPosition = MAV_SYS_STATUS_SENSOR_LASER_POSITION, SysStatusSensorExternalGroundTruth = MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH, SysStatusSensorAngularRateControl = MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL, SysStatusSensorAttitudeStabilization = MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION, SysStatusSensorYawPosition = MAV_SYS_STATUS_SENSOR_YAW_POSITION, SysStatusSensorZAltitudeControl = MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL, SysStatusSensorXYPositionControl = MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL, SysStatusSensorMotorOutputs = MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS, SysStatusSensorRCReceiver = MAV_SYS_STATUS_SENSOR_RC_RECEIVER, SysStatusSensor3dGyro2 = MAV_SYS_STATUS_SENSOR_3D_GYRO2, SysStatusSensor3dAccel2 = MAV_SYS_STATUS_SENSOR_3D_ACCEL2, SysStatusSensor3dMag2 = MAV_SYS_STATUS_SENSOR_3D_MAG2, SysStatusSensorGeoFence = MAV_SYS_STATUS_GEOFENCE, SysStatusSensorAHRS = MAV_SYS_STATUS_AHRS, SysStatusSensorTerrain = MAV_SYS_STATUS_TERRAIN, SysStatusSensorReverseMotor = MAV_SYS_STATUS_REVERSE_MOTOR, SysStatusSensorLogging = MAV_SYS_STATUS_LOGGING, SysStatusSensorBattery = MAV_SYS_STATUS_SENSOR_BATTERY, }; Q_ENUM(MavlinkSysStatus) enum CheckList { CheckListNotSetup = 0, CheckListPassed, CheckListFailed, }; Q_ENUM(CheckList) Q_PROPERTY(int id READ id CONSTANT) Q_PROPERTY(AutoPilotPlugin* autopilot MEMBER _autopilotPlugin CONSTANT) Q_PROPERTY(QGeoCoordinate coordinate READ coordinate NOTIFY coordinateChanged) Q_PROPERTY(QGeoCoordinate homePosition READ homePosition NOTIFY homePositionChanged) Q_PROPERTY(QGeoCoordinate armedPosition READ armedPosition NOTIFY armedPositionChanged) Q_PROPERTY(bool armed READ armed WRITE setArmed NOTIFY armedChanged) Q_PROPERTY(bool autoDisarm READ autoDisarm NOTIFY autoDisarmChanged) Q_PROPERTY(bool flightModeSetAvailable READ flightModeSetAvailable CONSTANT) Q_PROPERTY(QStringList flightModes READ flightModes NOTIFY flightModesChanged) Q_PROPERTY(QStringList extraJoystickFlightModes READ extraJoystickFlightModes NOTIFY flightModesChanged) Q_PROPERTY(QString flightMode READ flightMode WRITE setFlightMode NOTIFY flightModeChanged) Q_PROPERTY(bool hilMode READ hilMode WRITE setHilMode NOTIFY hilModeChanged) Q_PROPERTY(TrajectoryPoints* trajectoryPoints MEMBER _trajectoryPoints CONSTANT) Q_PROPERTY(QmlObjectListModel* cameraTriggerPoints READ cameraTriggerPoints CONSTANT) Q_PROPERTY(float latitude READ latitude NOTIFY coordinateChanged) Q_PROPERTY(float longitude READ longitude NOTIFY coordinateChanged) Q_PROPERTY(bool messageTypeNone READ messageTypeNone NOTIFY messageTypeChanged) Q_PROPERTY(bool messageTypeNormal READ messageTypeNormal NOTIFY messageTypeChanged) Q_PROPERTY(bool messageTypeWarning READ messageTypeWarning NOTIFY messageTypeChanged) Q_PROPERTY(bool messageTypeError READ messageTypeError NOTIFY messageTypeChanged) Q_PROPERTY(int newMessageCount READ newMessageCount NOTIFY newMessageCountChanged) Q_PROPERTY(int messageCount READ messageCount NOTIFY messageCountChanged) Q_PROPERTY(QString formatedMessages READ formatedMessages NOTIFY formatedMessagesChanged) Q_PROPERTY(QString formatedMessage READ formatedMessage NOTIFY formatedMessageChanged) Q_PROPERTY(QString latestError READ latestError NOTIFY latestErrorChanged) Q_PROPERTY(int joystickMode READ joystickMode WRITE setJoystickMode NOTIFY joystickModeChanged) Q_PROPERTY(QStringList joystickModes READ joystickModes CONSTANT) Q_PROPERTY(bool joystickEnabled READ joystickEnabled WRITE setJoystickEnabled NOTIFY joystickEnabledChanged) Q_PROPERTY(bool active READ active WRITE setActive NOTIFY activeChanged) Q_PROPERTY(int flowImageIndex READ flowImageIndex NOTIFY flowImageIndexChanged) Q_PROPERTY(int rcRSSI READ rcRSSI NOTIFY rcRSSIChanged) Q_PROPERTY(bool px4Firmware READ px4Firmware NOTIFY firmwareTypeChanged) Q_PROPERTY(bool apmFirmware READ apmFirmware NOTIFY firmwareTypeChanged) Q_PROPERTY(bool soloFirmware READ soloFirmware WRITE setSoloFirmware NOTIFY soloFirmwareChanged) Q_PROPERTY(bool genericFirmware READ genericFirmware CONSTANT) Q_PROPERTY(bool connectionLost READ connectionLost NOTIFY connectionLostChanged) Q_PROPERTY(bool connectionLostEnabled READ connectionLostEnabled WRITE setConnectionLostEnabled NOTIFY connectionLostEnabledChanged) Q_PROPERTY(uint messagesReceived READ messagesReceived NOTIFY messagesReceivedChanged) Q_PROPERTY(uint messagesSent READ messagesSent NOTIFY messagesSentChanged) Q_PROPERTY(uint messagesLost READ messagesLost NOTIFY messagesLostChanged) Q_PROPERTY(bool fixedWing READ fixedWing NOTIFY vehicleTypeChanged) Q_PROPERTY(bool multiRotor READ multiRotor NOTIFY vehicleTypeChanged) Q_PROPERTY(bool vtol READ vtol NOTIFY vehicleTypeChanged) Q_PROPERTY(bool rover READ rover NOTIFY vehicleTypeChanged) Q_PROPERTY(bool sub READ sub NOTIFY vehicleTypeChanged) Q_PROPERTY(bool supportsThrottleModeCenterZero READ supportsThrottleModeCenterZero CONSTANT) Q_PROPERTY(bool supportsNegativeThrust READ supportsNegativeThrust CONSTANT) Q_PROPERTY(bool supportsJSButton READ supportsJSButton CONSTANT) Q_PROPERTY(bool supportsRadio READ supportsRadio CONSTANT) Q_PROPERTY(bool supportsMotorInterference READ supportsMotorInterference CONSTANT) Q_PROPERTY(bool autoDisconnect MEMBER _autoDisconnect NOTIFY autoDisconnectChanged) Q_PROPERTY(QString prearmError READ prearmError WRITE setPrearmError NOTIFY prearmErrorChanged) Q_PROPERTY(int motorCount READ motorCount CONSTANT) Q_PROPERTY(bool coaxialMotors READ coaxialMotors CONSTANT) Q_PROPERTY(bool xConfigMotors READ xConfigMotors CONSTANT) Q_PROPERTY(bool isOfflineEditingVehicle READ isOfflineEditingVehicle CONSTANT) Q_PROPERTY(QString brandImageIndoor READ brandImageIndoor NOTIFY firmwareTypeChanged) Q_PROPERTY(QString brandImageOutdoor READ brandImageOutdoor NOTIFY firmwareTypeChanged) Q_PROPERTY(QStringList unhealthySensors READ unhealthySensors NOTIFY unhealthySensorsChanged) Q_PROPERTY(int sensorsPresentBits READ sensorsPresentBits NOTIFY sensorsPresentBitsChanged) Q_PROPERTY(int sensorsEnabledBits READ sensorsEnabledBits NOTIFY sensorsEnabledBitsChanged) Q_PROPERTY(int sensorsHealthBits READ sensorsHealthBits NOTIFY sensorsHealthBitsChanged) Q_PROPERTY(int sensorsUnhealthyBits READ sensorsUnhealthyBits NOTIFY sensorsUnhealthyBitsChanged) ///< Combination of enabled and health Q_PROPERTY(QString missionFlightMode READ missionFlightMode CONSTANT) Q_PROPERTY(QString pauseFlightMode READ pauseFlightMode CONSTANT) Q_PROPERTY(QString rtlFlightMode READ rtlFlightMode CONSTANT) Q_PROPERTY(QString smartRTLFlightMode READ smartRTLFlightMode CONSTANT) Q_PROPERTY(bool supportsSmartRTL READ supportsSmartRTL CONSTANT) Q_PROPERTY(QString landFlightMode READ landFlightMode CONSTANT) Q_PROPERTY(QString takeControlFlightMode READ takeControlFlightMode CONSTANT) Q_PROPERTY(QString followFlightMode READ followFlightMode CONSTANT) Q_PROPERTY(QString firmwareTypeString READ firmwareTypeString NOTIFY firmwareTypeChanged) Q_PROPERTY(QString vehicleTypeString READ vehicleTypeString NOTIFY vehicleTypeChanged) Q_PROPERTY(QString vehicleImageOpaque READ vehicleImageOpaque CONSTANT) Q_PROPERTY(QString vehicleImageOutline READ vehicleImageOutline CONSTANT) Q_PROPERTY(QString vehicleImageCompass READ vehicleImageCompass CONSTANT) Q_PROPERTY(int telemetryRRSSI READ telemetryRRSSI NOTIFY telemetryRRSSIChanged) Q_PROPERTY(int telemetryLRSSI READ telemetryLRSSI NOTIFY telemetryLRSSIChanged) Q_PROPERTY(unsigned int telemetryRXErrors READ telemetryRXErrors NOTIFY telemetryRXErrorsChanged) Q_PROPERTY(unsigned int telemetryFixed READ telemetryFixed NOTIFY telemetryFixedChanged) Q_PROPERTY(unsigned int telemetryTXBuffer READ telemetryTXBuffer NOTIFY telemetryTXBufferChanged) Q_PROPERTY(int telemetryLNoise READ telemetryLNoise NOTIFY telemetryLNoiseChanged) Q_PROPERTY(int telemetryRNoise READ telemetryRNoise NOTIFY telemetryRNoiseChanged) Q_PROPERTY(QVariantList toolBarIndicators READ toolBarIndicators NOTIFY toolBarIndicatorsChanged) Q_PROPERTY(bool initialPlanRequestComplete READ initialPlanRequestComplete NOTIFY initialPlanRequestCompleteChanged) Q_PROPERTY(QVariantList staticCameraList READ staticCameraList CONSTANT) Q_PROPERTY(QGCCameraManager* dynamicCameras READ dynamicCameras NOTIFY dynamicCamerasChanged) Q_PROPERTY(QString hobbsMeter READ hobbsMeter NOTIFY hobbsMeterChanged) Q_PROPERTY(bool vtolInFwdFlight READ vtolInFwdFlight WRITE setVtolInFwdFlight NOTIFY vtolInFwdFlightChanged) Q_PROPERTY(bool highLatencyLink READ highLatencyLink NOTIFY highLatencyLinkChanged) Q_PROPERTY(bool supportsTerrainFrame READ supportsTerrainFrame NOTIFY firmwareTypeChanged) Q_PROPERTY(QString priorityLinkName READ priorityLinkName WRITE setPriorityLinkByName NOTIFY priorityLinkNameChanged) Q_PROPERTY(QVariantList links READ links NOTIFY linksChanged) Q_PROPERTY(LinkInterface* priorityLink READ priorityLink NOTIFY priorityLinkNameChanged) Q_PROPERTY(quint64 mavlinkSentCount READ mavlinkSentCount NOTIFY mavlinkStatusChanged) Q_PROPERTY(quint64 mavlinkReceivedCount READ mavlinkReceivedCount NOTIFY mavlinkStatusChanged) Q_PROPERTY(quint64 mavlinkLossCount READ mavlinkLossCount NOTIFY mavlinkStatusChanged) Q_PROPERTY(float mavlinkLossPercent READ mavlinkLossPercent NOTIFY mavlinkStatusChanged) Q_PROPERTY(qreal gimbalRoll READ gimbalRoll NOTIFY gimbalRollChanged) Q_PROPERTY(qreal gimbalPitch READ gimbalPitch NOTIFY gimbalPitchChanged) Q_PROPERTY(qreal gimbalYaw READ gimbalYaw NOTIFY gimbalYawChanged) Q_PROPERTY(bool gimbalData READ gimbalData NOTIFY gimbalDataChanged) Q_PROPERTY(bool isROIEnabled READ isROIEnabled NOTIFY isROIEnabledChanged) Q_PROPERTY(CheckList checkListState READ checkListState WRITE setCheckListState NOTIFY checkListStateChanged) // The following properties relate to Orbit status Q_PROPERTY(bool orbitActive READ orbitActive NOTIFY orbitActiveChanged) Q_PROPERTY(QGCMapCircle* orbitMapCircle READ orbitMapCircle CONSTANT) // Vehicle state used for guided control Q_PROPERTY(bool flying READ flying NOTIFY flyingChanged) ///< Vehicle is flying Q_PROPERTY(bool landing READ landing NOTIFY landingChanged) ///< Vehicle is in landing pattern (DO_LAND_START) Q_PROPERTY(bool guidedMode READ guidedMode WRITE setGuidedMode NOTIFY guidedModeChanged) ///< Vehicle is in Guided mode and can respond to guided commands Q_PROPERTY(bool guidedModeSupported READ guidedModeSupported CONSTANT) ///< Guided mode commands are supported by this vehicle Q_PROPERTY(bool pauseVehicleSupported READ pauseVehicleSupported CONSTANT) ///< Pause vehicle command is supported Q_PROPERTY(bool orbitModeSupported READ orbitModeSupported CONSTANT) ///< Orbit mode is supported by this vehicle Q_PROPERTY(bool roiModeSupported READ roiModeSupported CONSTANT) ///< Orbit mode is supported by this vehicle Q_PROPERTY(bool takeoffVehicleSupported READ takeoffVehicleSupported CONSTANT) ///< Guided takeoff supported Q_PROPERTY(QString gotoFlightMode READ gotoFlightMode CONSTANT) ///< Flight mode vehicle is in while performing goto Q_PROPERTY(ParameterManager* parameterManager READ parameterManager CONSTANT) Q_PROPERTY(VehicleObjectAvoidance* objectAvoidance READ objectAvoidance CONSTANT) // FactGroup object model properties Q_PROPERTY(Fact* roll READ roll CONSTANT) Q_PROPERTY(Fact* pitch READ pitch CONSTANT) Q_PROPERTY(Fact* heading READ heading CONSTANT) Q_PROPERTY(Fact* rollRate READ rollRate CONSTANT) Q_PROPERTY(Fact* pitchRate READ pitchRate CONSTANT) Q_PROPERTY(Fact* yawRate READ yawRate CONSTANT) Q_PROPERTY(Fact* groundSpeed READ groundSpeed CONSTANT) Q_PROPERTY(Fact* airSpeed READ airSpeed CONSTANT) Q_PROPERTY(Fact* climbRate READ climbRate CONSTANT) Q_PROPERTY(Fact* altitudeRelative READ altitudeRelative CONSTANT) Q_PROPERTY(Fact* altitudeAMSL READ altitudeAMSL CONSTANT) Q_PROPERTY(Fact* flightDistance READ flightDistance CONSTANT) Q_PROPERTY(Fact* distanceToHome READ distanceToHome CONSTANT) Q_PROPERTY(Fact* headingToNextWP READ headingToNextWP CONSTANT) Q_PROPERTY(Fact* headingToHome READ headingToHome CONSTANT) Q_PROPERTY(Fact* distanceToGCS READ distanceToGCS CONSTANT) Q_PROPERTY(Fact* hobbs READ hobbs CONSTANT) Q_PROPERTY(Fact* throttlePct READ throttlePct CONSTANT) Q_PROPERTY(FactGroup* gps READ gpsFactGroup CONSTANT) Q_PROPERTY(FactGroup* battery READ battery1FactGroup CONSTANT) Q_PROPERTY(FactGroup* battery2 READ battery2FactGroup CONSTANT) Q_PROPERTY(FactGroup* wind READ windFactGroup CONSTANT) Q_PROPERTY(FactGroup* vibration READ vibrationFactGroup CONSTANT) Q_PROPERTY(FactGroup* temperature READ temperatureFactGroup CONSTANT) Q_PROPERTY(FactGroup* clock READ clockFactGroup CONSTANT) Q_PROPERTY(FactGroup* setpoint READ setpointFactGroup CONSTANT) Q_PROPERTY(FactGroup* estimatorStatus READ estimatorStatusFactGroup CONSTANT) Q_PROPERTY(int firmwareMajorVersion READ firmwareMajorVersion NOTIFY firmwareVersionChanged) Q_PROPERTY(int firmwareMinorVersion READ firmwareMinorVersion NOTIFY firmwareVersionChanged) Q_PROPERTY(int firmwarePatchVersion READ firmwarePatchVersion NOTIFY firmwareVersionChanged) Q_PROPERTY(int firmwareVersionType READ firmwareVersionType NOTIFY firmwareVersionChanged) Q_PROPERTY(QString firmwareVersionTypeString READ firmwareVersionTypeString NOTIFY firmwareVersionChanged) Q_PROPERTY(int firmwareCustomMajorVersion READ firmwareCustomMajorVersion NOTIFY firmwareCustomVersionChanged) Q_PROPERTY(int firmwareCustomMinorVersion READ firmwareCustomMinorVersion NOTIFY firmwareCustomVersionChanged) Q_PROPERTY(int firmwareCustomPatchVersion READ firmwareCustomPatchVersion NOTIFY firmwareCustomVersionChanged) Q_PROPERTY(QString gitHash READ gitHash NOTIFY gitHashChanged) Q_PROPERTY(quint64 vehicleUID READ vehicleUID NOTIFY vehicleUIDChanged) Q_PROPERTY(QString vehicleUIDStr READ vehicleUIDStr NOTIFY vehicleUIDChanged) /// Resets link status counters Q_INVOKABLE void resetCounters (); // Called when the message drop-down is invoked to clear current count Q_INVOKABLE void resetMessages(); Q_INVOKABLE void virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust); Q_INVOKABLE void disconnectInactiveVehicle(); /// Command vehicle to return to launch Q_INVOKABLE void guidedModeRTL(bool smartRTL); /// Command vehicle to land at current location Q_INVOKABLE void guidedModeLand(); /// Command vehicle to takeoff from current location Q_INVOKABLE void guidedModeTakeoff(double altitudeRelative); /// @return The minimum takeoff altitude (relative) for guided takeoff. Q_INVOKABLE double minimumTakeoffAltitude(); /// Command vehicle to move to specified location (altitude is included and relative) Q_INVOKABLE void guidedModeGotoLocation(const QGeoCoordinate& gotoCoord); /// Command vehicle to change altitude /// @param altitudeChange If > 0, go up by amount specified, if < 0, go down by amount specified Q_INVOKABLE void guidedModeChangeAltitude(double altitudeChange); /// Command vehicle to orbit given center point /// @param centerCoord Orit around this point /// @param radius Distance from vehicle to centerCoord /// @param amslAltitude Desired vehicle altitude Q_INVOKABLE void guidedModeOrbit(const QGeoCoordinate& centerCoord, double radius, double amslAltitude); /// Command vehicle to keep given point as ROI /// @param centerCoord ROI coordinates Q_INVOKABLE void guidedModeROI(const QGeoCoordinate& centerCoord); Q_INVOKABLE void stopGuidedModeROI(); /// Command vehicle to pause at current location. If vehicle supports guide mode, vehicle will be left /// in guided mode after pause. Q_INVOKABLE void pauseVehicle(); /// Command vehicle to kill all motors no matter what state Q_INVOKABLE void emergencyStop(); /// Command vehicle to abort landing Q_INVOKABLE void abortLanding(double climbOutAltitude); Q_INVOKABLE void startMission(); /// Alter the current mission item on the vehicle Q_INVOKABLE void setCurrentMissionSequence(int seq); /// Reboot vehicle Q_INVOKABLE void rebootVehicle(); /// Clear Messages Q_INVOKABLE void clearMessages(); Q_INVOKABLE void triggerCamera(); Q_INVOKABLE void sendPlan(QString planFile); /// Used to check if running current version is equal or higher than the one being compared. // returns 1 if current > compare, 0 if current == compare, -1 if current < compare Q_INVOKABLE int versionCompare(QString& compare); Q_INVOKABLE int versionCompare(int major, int minor, int patch); /// Test motor /// @param motor Motor number, 1-based /// @param percent 0-no power, 100-full power /// @param timeoutSec Disabled motor after this amount of time Q_INVOKABLE void motorTest(int motor, int percent, int timeoutSecs); Q_INVOKABLE void setPIDTuningTelemetryMode(bool pidTuning); Q_INVOKABLE void gimbalControlValue (double pitch, double yaw); Q_INVOKABLE void gimbalPitchStep (int direction); Q_INVOKABLE void gimbalYawStep (int direction); Q_INVOKABLE void centerGimbal (); #if !defined(NO_ARDUPILOT_DIALECT) Q_INVOKABLE void flashBootloader(); #endif bool guidedModeSupported () const; bool pauseVehicleSupported () const; bool orbitModeSupported () const; bool roiModeSupported () const; bool takeoffVehicleSupported () const; QString gotoFlightMode () const; // Property accessors QGeoCoordinate coordinate() { return _coordinate; } QGeoCoordinate armedPosition () { return _armedPosition; } typedef enum { JoystickModeRC, ///< Joystick emulates an RC Transmitter JoystickModeAttitude, JoystickModePosition, JoystickModeForce, JoystickModeVelocity, JoystickModeMax } JoystickMode_t; void updateFlightDistance(double distance); int joystickMode(); void setJoystickMode(int mode); /// List of joystick mode names QStringList joystickModes(); bool joystickEnabled(); void setJoystickEnabled(bool enabled); // Is vehicle active with respect to current active vehicle in QGC bool active(); void setActive(bool active); // Property accesors int id() { return _id; } MAV_AUTOPILOT firmwareType() const { return _firmwareType; } MAV_TYPE vehicleType() const { return _vehicleType; } Q_INVOKABLE QString vehicleTypeName() const; /// Returns the highest quality link available to the Vehicle. If you need to hold a reference to this link use /// LinkManager::sharedLinkInterfaceForGet to get QSharedPointer for link. LinkInterface* priorityLink() { return _priorityLink.data(); } /// Sends a message to the specified link /// @return true: message sent, false: Link no longer connected bool sendMessageOnLink(LinkInterface* link, mavlink_message_t message); /// Sends the specified messages multiple times to the vehicle in order to attempt to /// guarantee that it makes it to the vehicle. void sendMessageMultiple(mavlink_message_t message); /// Provides access to uas from vehicle. Temporary workaround until UAS is fully phased out. UAS* uas() { return _uas; } /// Provides access to uas from vehicle. Temporary workaround until AutoPilotPlugin is fully phased out. AutoPilotPlugin* autopilotPlugin() { return _autopilotPlugin; } /// Provides access to the Firmware Plugin for this Vehicle FirmwarePlugin* firmwarePlugin() { return _firmwarePlugin; } MissionManager* missionManager() { return _missionManager; } GeoFenceManager* geoFenceManager() { return _geoFenceManager; } RallyPointManager* rallyPointManager() { return _rallyPointManager; } QGeoCoordinate homePosition(); bool armed () { return _armed; } void setArmed (bool armed); bool flightModeSetAvailable (); QStringList flightModes (); QStringList extraJoystickFlightModes (); QString flightMode () const; void setFlightMode (const QString& flightMode); QString priorityLinkName() const; QVariantList links() const; void setPriorityLinkByName(const QString& priorityLinkName); bool hilMode(); void setHilMode(bool hilMode); bool fixedWing() const; bool multiRotor() const; bool vtol() const; bool rover() const; bool sub() const; bool supportsThrottleModeCenterZero () const; bool supportsNegativeThrust (); bool supportsRadio () const; bool supportsJSButton () const; bool supportsMotorInterference () const; bool supportsTerrainFrame () const; void setGuidedMode(bool guidedMode); QString prearmError() const { return _prearmError; } void setPrearmError(const QString& prearmError); QmlObjectListModel* cameraTriggerPoints () { return &_cameraTriggerPoints; } int flowImageIndex() { return _flowImageIndex; } //-- Mavlink Logging void startMavlinkLog(); void stopMavlinkLog(); /// Requests the specified data stream from the vehicle /// @param stream Stream which is being requested /// @param rate Rate at which to send stream in Hz /// @param sendMultiple Send multiple time to guarantee Vehicle reception void requestDataStream(MAV_DATA_STREAM stream, uint16_t rate, bool sendMultiple = true); typedef enum { MessageNone, MessageNormal, MessageWarning, MessageError } MessageType_t; bool messageTypeNone () { return _currentMessageType == MessageNone; } bool messageTypeNormal () { return _currentMessageType == MessageNormal; } bool messageTypeWarning () { return _currentMessageType == MessageWarning; } bool messageTypeError () { return _currentMessageType == MessageError; } int newMessageCount () { return _currentMessageCount; } int messageCount () { return _messageCount; } QString formatedMessages (); QString formatedMessage () { return _formatedMessage; } QString latestError () { return _latestError; } float latitude () { return static_cast(_coordinate.latitude()); } float longitude () { return static_cast(_coordinate.longitude()); } bool mavPresent () { return _mav != nullptr; } int rcRSSI () { return _rcRSSI; } bool px4Firmware () const { return _firmwareType == MAV_AUTOPILOT_PX4; } bool apmFirmware () const { return _firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA; } bool genericFirmware () const { return !px4Firmware() && !apmFirmware(); } bool connectionLost () const { return _connectionLost; } bool connectionLostEnabled () const { return _connectionLostEnabled; } uint messagesReceived () { return _messagesReceived; } uint messagesSent () { return _messagesSent; } uint messagesLost () { return _messagesLost; } bool flying () const { return _flying; } bool landing () const { return _landing; } bool guidedMode () const; bool vtolInFwdFlight () const { return _vtolInFwdFlight; } uint8_t baseMode () const { return _base_mode; } uint32_t customMode () const { return _custom_mode; } bool isOfflineEditingVehicle () const { return _offlineEditingVehicle; } QString brandImageIndoor () const; QString brandImageOutdoor () const; QStringList unhealthySensors () const; int sensorsPresentBits () const { return static_cast(_onboardControlSensorsPresent); } int sensorsEnabledBits () const { return static_cast(_onboardControlSensorsEnabled); } int sensorsHealthBits () const { return static_cast(_onboardControlSensorsHealth); } int sensorsUnhealthyBits () const { return static_cast(_onboardControlSensorsUnhealthy); } QString missionFlightMode () const; QString pauseFlightMode () const; QString rtlFlightMode () const; QString smartRTLFlightMode () const; bool supportsSmartRTL () const; QString landFlightMode () const; QString takeControlFlightMode () const; QString followFlightMode () const; double defaultCruiseSpeed () const { return _defaultCruiseSpeed; } double defaultHoverSpeed () const { return _defaultHoverSpeed; } QString firmwareTypeString () const; QString vehicleTypeString () const; int telemetryRRSSI () { return _telemetryRRSSI; } int telemetryLRSSI () { return _telemetryLRSSI; } unsigned int telemetryRXErrors () { return _telemetryRXErrors; } unsigned int telemetryFixed () { return _telemetryFixed; } unsigned int telemetryTXBuffer () { return _telemetryTXBuffer; } int telemetryLNoise () { return _telemetryLNoise; } int telemetryRNoise () { return _telemetryRNoise; } bool autoDisarm (); bool highLatencyLink () const { return _highLatencyLink; } bool orbitActive () const { return _orbitActive; } QGCMapCircle* orbitMapCircle () { return &_orbitMapCircle; } /// Get the maximum MAVLink protocol version supported /// @return the maximum version unsigned maxProtoVersion () const { return _maxProtoVersion; } Fact* roll () { return &_rollFact; } Fact* pitch () { return &_pitchFact; } Fact* heading () { return &_headingFact; } Fact* rollRate () { return &_rollRateFact; } Fact* pitchRate () { return &_pitchRateFact; } Fact* yawRate () { return &_yawRateFact; } Fact* airSpeed () { return &_airSpeedFact; } Fact* groundSpeed () { return &_groundSpeedFact; } Fact* climbRate () { return &_climbRateFact; } Fact* altitudeRelative () { return &_altitudeRelativeFact; } Fact* altitudeAMSL () { return &_altitudeAMSLFact; } Fact* flightDistance () { return &_flightDistanceFact; } Fact* distanceToHome () { return &_distanceToHomeFact; } Fact* headingToNextWP () { return &_headingToNextWPFact; } Fact* headingToHome () { return &_headingToHomeFact; } Fact* distanceToGCS () { return &_distanceToGCSFact; } Fact* hobbs () { return &_hobbsFact; } Fact* throttlePct () { return &_throttlePctFact; } FactGroup* gpsFactGroup () { return &_gpsFactGroup; } FactGroup* battery1FactGroup () { return &_battery1FactGroup; } FactGroup* battery2FactGroup () { return &_battery2FactGroup; } FactGroup* windFactGroup () { return &_windFactGroup; } FactGroup* vibrationFactGroup () { return &_vibrationFactGroup; } FactGroup* temperatureFactGroup () { return &_temperatureFactGroup; } FactGroup* clockFactGroup () { return &_clockFactGroup; } FactGroup* setpointFactGroup () { return &_setpointFactGroup; } FactGroup* distanceSensorFactGroup () { return &_distanceSensorFactGroup; } FactGroup* estimatorStatusFactGroup () { return &_estimatorStatusFactGroup; } void setConnectionLostEnabled(bool connectionLostEnabled); ParameterManager* parameterManager() { return _parameterManager; } ParameterManager* parameterManager() const { return _parameterManager; } VehicleObjectAvoidance* objectAvoidance() { return _objectAvoidance; } static const int cMaxRcChannels = 18; bool containsLink(LinkInterface* link) { return _links.contains(link); } /// Sends the specified MAV_CMD to the vehicle. If no Ack is received command will be retried. If a sendMavCommand is already in progress /// the command will be queued and sent when the previous command completes. /// @param component Component to send to /// @param command MAV_CMD to send /// @param showError true: Display error to user if command failed, false: no error shown /// Signals: mavCommandResult on success or failure void sendMavCommand(int component, MAV_CMD command, bool showError, float param1 = 0.0f, float param2 = 0.0f, float param3 = 0.0f, float param4 = 0.0f, float param5 = 0.0f, float param6 = 0.0f, float param7 = 0.0f); void sendMavCommandInt(int component, MAV_CMD command, MAV_FRAME frame, bool showError, float param1, float param2, float param3, float param4, double param5, double param6, float param7); /// Same as sendMavCommand but available from Qml. Q_INVOKABLE void sendCommand(int component, int command, bool showError, double param1 = 0.0, double param2 = 0.0, double param3 = 0.0, double param4 = 0.0, double param5 = 0.0, double param6 = 0.0, double param7 = 0.0) { sendMavCommand( component, static_cast(command), showError, static_cast(param1), static_cast(param2), static_cast(param3), static_cast(param4), static_cast(param5), static_cast(param6), static_cast(param7)); } int firmwareMajorVersion() const { return _firmwareMajorVersion; } int firmwareMinorVersion() const { return _firmwareMinorVersion; } int firmwarePatchVersion() const { return _firmwarePatchVersion; } int firmwareVersionType() const { return _firmwareVersionType; } int firmwareCustomMajorVersion() const { return _firmwareCustomMajorVersion; } int firmwareCustomMinorVersion() const { return _firmwareCustomMinorVersion; } int firmwareCustomPatchVersion() const { return _firmwareCustomPatchVersion; } QString firmwareVersionTypeString() const; void setFirmwareVersion(int majorVersion, int minorVersion, int patchVersion, FIRMWARE_VERSION_TYPE versionType = FIRMWARE_VERSION_TYPE_OFFICIAL); void setFirmwareCustomVersion(int majorVersion, int minorVersion, int patchVersion); static const int versionNotSetValue = -1; QString gitHash() const { return _gitHash; } quint64 vehicleUID() const { return _uid; } QString vehicleUIDStr(); bool soloFirmware() const { return _soloFirmware; } void setSoloFirmware(bool soloFirmware); int defaultComponentId() { return _defaultComponentId; } /// Sets the default component id for an offline editing vehicle void setOfflineEditingDefaultComponentId(int defaultComponentId); /// @return -1 = Unknown, Number of motors on vehicle int motorCount(); /// @return true: Motors are coaxial like an X8 config, false: Quadcopter for example bool coaxialMotors(); /// @return true: X confiuration, false: Plus configuration bool xConfigMotors(); /// @return Firmware plugin instance data associated with this Vehicle QObject* firmwarePluginInstanceData() { return _firmwarePluginInstanceData; } /// Sets the firmware plugin instance data associated with this Vehicle. This object will be parented to the Vehicle /// and destroyed when the vehicle goes away. void setFirmwarePluginInstanceData(QObject* firmwarePluginInstanceData); QString vehicleImageOpaque () const; QString vehicleImageOutline () const; QString vehicleImageCompass () const; const QVariantList& toolBarIndicators (); const QVariantList& staticCameraList () const; bool capabilitiesKnown () const { return _capabilityBitsKnown; } uint64_t capabilityBits () const { return _capabilityBits; } // Change signalled by capabilityBitsChanged QGCCameraManager* dynamicCameras () { return _cameras; } QString hobbsMeter (); /// @true: When flying a mission the vehicle is always facing towards the next waypoint bool vehicleYawsToNextWaypointInMission() const; /// The vehicle is responsible for making the initial request for the Plan. /// @return: true: initial request is complete, false: initial request is still in progress; bool initialPlanRequestComplete() const { return _initialPlanRequestComplete; } void forceInitialPlanRequestComplete(); void _setFlying(bool flying); void _setLanding(bool landing); void _setHomePosition(QGeoCoordinate& homeCoord); void _setMaxProtoVersion(unsigned version); void _setMaxProtoVersionFromBothSources(); /// Vehicle is about to be deleted void prepareDelete(); quint64 mavlinkSentCount () { return _mavlinkSentCount; } /// Calculated total number of messages sent to us quint64 mavlinkReceivedCount () { return _mavlinkReceivedCount; } /// Total number of sucessful messages received quint64 mavlinkLossCount () { return _mavlinkLossCount; } /// Total number of lost messages float mavlinkLossPercent () { return _mavlinkLossPercent; } /// Running loss rate qreal gimbalRoll () { return static_cast(_curGimbalRoll);} qreal gimbalPitch () { return static_cast(_curGimbalPitch); } qreal gimbalYaw () { return static_cast(_curGinmbalYaw); } bool gimbalData () { return _haveGimbalData; } bool isROIEnabled () { return _isROIEnabled; } CheckList checkListState () { return _checkListState; } void setCheckListState (CheckList cl) { _checkListState = cl; emit checkListStateChanged(); } public slots: void setVtolInFwdFlight (bool vtolInFwdFlight); signals: void allLinksInactive (Vehicle* vehicle); void coordinateChanged (QGeoCoordinate coordinate); void joystickModeChanged (int mode); void joystickEnabledChanged (bool enabled); void activeChanged (bool active); void mavlinkMessageReceived (const mavlink_message_t& message); void homePositionChanged (const QGeoCoordinate& homePosition); void armedPositionChanged(); void armedChanged (bool armed); void flightModeChanged (const QString& flightMode); void hilModeChanged (bool hilMode); /** @brief HIL actuator controls (replaces HIL controls) */ void hilActuatorControlsChanged (quint64 time, quint64 flags, float ctl_0, float ctl_1, float ctl_2, float ctl_3, float ctl_4, float ctl_5, float ctl_6, float ctl_7, float ctl_8, float ctl_9, float ctl_10, float ctl_11, float ctl_12, float ctl_13, float ctl_14, float ctl_15, quint8 mode); void connectionLostChanged (bool connectionLost); void connectionLostEnabledChanged (bool connectionLostEnabled); void autoDisconnectChanged (bool autoDisconnectChanged); void flyingChanged (bool flying); void landingChanged (bool landing); void guidedModeChanged (bool guidedMode); void vtolInFwdFlightChanged (bool vtolInFwdFlight); void prearmErrorChanged (const QString& prearmError); void soloFirmwareChanged (bool soloFirmware); void unhealthySensorsChanged (); void defaultCruiseSpeedChanged (double cruiseSpeed); void defaultHoverSpeedChanged (double hoverSpeed); void firmwareTypeChanged (); void vehicleTypeChanged (); void dynamicCamerasChanged (); void hobbsMeterChanged (); void capabilitiesKnownChanged (bool capabilitiesKnown); void initialPlanRequestCompleteChanged(bool initialPlanRequestComplete); void capabilityBitsChanged (uint64_t capabilityBits); void toolBarIndicatorsChanged (); void highLatencyLinkChanged (bool highLatencyLink); void priorityLinkNameChanged (const QString& priorityLinkName); void linksChanged (); void linksPropertiesChanged (); void textMessageReceived (int uasid, int componentid, int severity, QString text); void checkListStateChanged (); void messagesReceivedChanged (); void messagesSentChanged (); void messagesLostChanged (); /// Used internally to move sendMessage call to main thread void _sendMessageOnLinkOnThread(LinkInterface* link, mavlink_message_t message); void messageTypeChanged (); void newMessageCountChanged (); void messageCountChanged (); void formatedMessagesChanged (); void formatedMessageChanged (); void latestErrorChanged (); void longitudeChanged (); void currentConfigChanged (); void flowImageIndexChanged (); void rcRSSIChanged (int rcRSSI); void telemetryRRSSIChanged (int value); void telemetryLRSSIChanged (int value); void telemetryRXErrorsChanged (unsigned int value); void telemetryFixedChanged (unsigned int value); void telemetryTXBufferChanged (unsigned int value); void telemetryLNoiseChanged (int value); void telemetryRNoiseChanged (int value); void autoDisarmChanged (); void flightModesChanged (); void sensorsPresentBitsChanged (int sensorsPresentBits); void sensorsEnabledBitsChanged (int sensorsEnabledBits); void sensorsHealthBitsChanged (int sensorsHealthBits); void sensorsUnhealthyBitsChanged (int sensorsUnhealthyBits); void orbitActiveChanged (bool orbitActive); void firmwareVersionChanged (); void firmwareCustomVersionChanged (); void gitHashChanged (QString hash); void vehicleUIDChanged (); /// New RC channel values /// @param channelCount Number of available channels, cMaxRcChannels max /// @param pwmValues -1 signals channel not available void rcChannelsChanged (int channelCount, int pwmValues[cMaxRcChannels]); /// Remote control RSSI changed (0% - 100%) void remoteControlRSSIChanged (uint8_t rssi); void mavlinkRawImu (mavlink_message_t message); void mavlinkScaledImu1 (mavlink_message_t message); void mavlinkScaledImu2 (mavlink_message_t message); void mavlinkScaledImu3 (mavlink_message_t message); // Mavlink Log Download void mavlinkLogData (Vehicle* vehicle, uint8_t target_system, uint8_t target_component, uint16_t sequence, uint8_t first_message, QByteArray data, bool acked); /// Signalled in response to usage of sendMavCommand /// @param vehicleId Vehicle which command was sent to /// @param component Component which command was sent to /// @param command MAV_CMD Command which was sent /// @param result MAV_RESULT returned in ack /// @param noResponseFromVehicle true: vehicle did not respond to command, false: vehicle responsed, MAV_RESULT in result void mavCommandResult (int vehicleId, int component, int command, int result, bool noReponseFromVehicle); // MAVlink Serial Data void mavlinkSerialControl (uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, QByteArray data); // MAVLink protocol version void requestProtocolVersion (unsigned version); void mavlinkStatusChanged (); void gimbalRollChanged (); void gimbalPitchChanged (); void gimbalYawChanged (); void gimbalDataChanged (); void isROIEnabledChanged (); private slots: void _mavlinkMessageReceived (LinkInterface* link, mavlink_message_t message); void _linkInactiveOrDeleted (LinkInterface* link); void _sendMessageOnLink (LinkInterface* link, mavlink_message_t message); void _sendMessageMultipleNext (); void _parametersReady (bool parametersReady); void _remoteControlRSSIChanged (uint8_t rssi); void _handleFlightModeChanged (const QString& flightMode); void _announceArmedChanged (bool armed); void _offlineFirmwareTypeSettingChanged(QVariant value); void _offlineVehicleTypeSettingChanged(QVariant value); void _offlineCruiseSpeedSettingChanged(QVariant value); void _offlineHoverSpeedSettingChanged(QVariant value); void _updateHighLatencyLink (bool sendCommand = true); void _handleTextMessage (int newCount); void _handletextMessageReceived (UASMessage* message); /** @brief A new camera image has arrived */ void _imageReady (UASInterface* uas); void _prearmErrorTimeout (); void _missionLoadComplete (); void _geoFenceLoadComplete (); void _rallyPointLoadComplete (); void _sendMavCommandAgain (); void _clearCameraTriggerPoints (); void _updateDistanceHeadingToHome (); void _updateHeadingToNextWP (); void _updateDistanceToGCS (); void _updateHobbsMeter (); void _vehicleParamLoaded (bool ready); void _sendQGCTimeToVehicle (); void _mavlinkMessageStatus (int uasId, uint64_t totalSent, uint64_t totalReceived, uint64_t totalLoss, float lossPercent); void _trafficUpdate (bool alert, QString traffic_id, QString vehicle_id, QGeoCoordinate location, float heading); void _orbitTelemetryTimeout (); void _protocolVersionTimeOut (); void _updateFlightTime (); private: bool _containsLink (LinkInterface* link); void _addLink (LinkInterface* link); void _joystickChanged (Joystick* joystick); void _loadSettings (); void _saveSettings (); void _startJoystick (bool start); void _handlePing (LinkInterface* link, mavlink_message_t& message); void _handleHomePosition (mavlink_message_t& message); void _handleHeartbeat (mavlink_message_t& message); void _handleRadioStatus (mavlink_message_t& message); void _handleRCChannels (mavlink_message_t& message); void _handleRCChannelsRaw (mavlink_message_t& message); void _handleBatteryStatus (mavlink_message_t& message); void _handleSysStatus (mavlink_message_t& message); void _handleWindCov (mavlink_message_t& message); void _handleVibration (mavlink_message_t& message); void _handleExtendedSysState (mavlink_message_t& message); void _handleCommandAck (mavlink_message_t& message); void _handleCommandLong (mavlink_message_t& message); void _handleAutopilotVersion (LinkInterface* link, mavlink_message_t& message); void _handleProtocolVersion (LinkInterface* link, mavlink_message_t& message); void _handleHilActuatorControls (mavlink_message_t& message); void _handleGpsRawInt (mavlink_message_t& message); void _handleGlobalPositionInt (mavlink_message_t& message); void _handleAltitude (mavlink_message_t& message); void _handleVfrHud (mavlink_message_t& message); void _handleScaledPressure (mavlink_message_t& message); void _handleScaledPressure2 (mavlink_message_t& message); void _handleScaledPressure3 (mavlink_message_t& message); void _handleHighLatency2 (mavlink_message_t& message); void _handleAttitudeWorker (double rollRadians, double pitchRadians, double yawRadians); void _handleAttitude (mavlink_message_t& message); void _handleAttitudeQuaternion (mavlink_message_t& message); void _handleAttitudeTarget (mavlink_message_t& message); void _handleDistanceSensor (mavlink_message_t& message); void _handleEstimatorStatus (mavlink_message_t& message); void _handleStatusText (mavlink_message_t& message, bool longVersion); void _handleOrbitExecutionStatus (const mavlink_message_t& message); void _handleMessageInterval (const mavlink_message_t& message); void _handleGimbalOrientation (const mavlink_message_t& message); void _handleObstacleDistance (const mavlink_message_t& message); // ArduPilot dialect messages #if !defined(NO_ARDUPILOT_DIALECT) void _handleCameraFeedback (const mavlink_message_t& message); void _handleWind (mavlink_message_t& message); #endif void _handleCameraImageCaptured (const mavlink_message_t& message); void _handleADSBVehicle (const mavlink_message_t& message); void _missionManagerError (int errorCode, const QString& errorMsg); void _geoFenceManagerError (int errorCode, const QString& errorMsg); void _rallyPointManagerError (int errorCode, const QString& errorMsg); void _linkActiveChanged (LinkInterface* link, bool active, int vehicleID); void _say (const QString& text); QString _vehicleIdSpeech (); void _handleMavlinkLoggingData (mavlink_message_t& message); void _handleMavlinkLoggingDataAcked (mavlink_message_t& message); void _ackMavlinkLogData (uint16_t sequence); void _sendNextQueuedMavCommand (); void _updatePriorityLink (bool updateActive, bool sendCommand); void _commonInit (); void _startPlanRequest (); void _setupAutoDisarmSignalling (); void _setCapabilities (uint64_t capabilityBits); void _updateArmed (bool armed); bool _apmArmingNotRequired (); void _pidTuningAdjustRates (bool setRatesForTuning); void _handleUnsupportedRequestAutopilotCapabilities(); void _handleUnsupportedRequestProtocolVersion(); void _initializeCsv (); void _writeCsvLine (); void _flightTimerStart (); void _flightTimerStop (); void _batteryStatusWorker (int batteryId, double voltage, double current, double batteryRemainingPct); int _id; ///< Mavlink system id int _defaultComponentId; bool _active; bool _offlineEditingVehicle; ///< This Vehicle is a "disconnected" vehicle for ui use while offline editing MAV_AUTOPILOT _firmwareType; MAV_TYPE _vehicleType; FirmwarePlugin* _firmwarePlugin; QObject* _firmwarePluginInstanceData; AutoPilotPlugin* _autopilotPlugin; MAVLinkProtocol* _mavlink; bool _soloFirmware; QGCToolbox* _toolbox; SettingsManager* _settingsManager; QTimer _csvLogTimer; QFile _csvLogFile; QList _links; JoystickMode_t _joystickMode; bool _joystickEnabled; UAS* _uas; QGeoCoordinate _coordinate; QGeoCoordinate _homePosition; QGeoCoordinate _armedPosition; UASInterface* _mav; int _currentMessageCount; int _messageCount; int _currentErrorCount; int _currentWarningCount; int _currentNormalCount; MessageType_t _currentMessageType; QString _latestError; int _updateCount; QString _formatedMessage; int _rcRSSI; double _rcRSSIstore; bool _autoDisconnect; ///< true: Automatically disconnect vehicle when last connection goes away or lost heartbeat bool _flying; bool _landing; bool _vtolInFwdFlight; uint32_t _onboardControlSensorsPresent; uint32_t _onboardControlSensorsEnabled; uint32_t _onboardControlSensorsHealth; uint32_t _onboardControlSensorsUnhealthy; bool _gpsRawIntMessageAvailable; bool _globalPositionIntMessageAvailable; double _defaultCruiseSpeed; double _defaultHoverSpeed; int _telemetryRRSSI; int _telemetryLRSSI; uint32_t _telemetryRXErrors; uint32_t _telemetryFixed; uint32_t _telemetryTXBuffer; int _telemetryLNoise; int _telemetryRNoise; bool _mavlinkProtocolRequestComplete = false; unsigned _mavlinkProtocolRequestMaxProtoVersion = 0; unsigned _maxProtoVersion = 0; bool _capabilityBitsKnown = false; uint64_t _capabilityBits; bool _highLatencyLink; bool _receivingAttitudeQuaternion; CheckList _checkListState = CheckListNotSetup; QGCCameraManager* _cameras; typedef struct { int component; bool commandInt; // true: use COMMAND_INT, false: use COMMAND_LONG MAV_CMD command; MAV_FRAME frame; double rgParam[7]; bool showError; } MavCommandQueueEntry_t; QList _mavCommandQueue; QTimer _mavCommandAckTimer; int _mavCommandRetryCount; int _capabilitiesRetryCount = 0; QTime _capabilitiesRetryElapsed; static const int _mavCommandMaxRetryCount = 3; static const int _mavCommandAckTimeoutMSecs = 3000; static const int _mavCommandAckTimeoutMSecsHighLatency = 120000; QString _prearmError; QTimer _prearmErrorTimer; static const int _prearmErrorTimeoutMSecs = 35 * 1000; ///< Take away prearm error after 35 seconds // Lost connection handling bool _connectionLost; bool _connectionLostEnabled; bool _initialPlanRequestComplete; MissionManager* _missionManager; bool _missionManagerInitialRequestSent; GeoFenceManager* _geoFenceManager; bool _geoFenceManagerInitialRequestSent; RallyPointManager* _rallyPointManager; bool _rallyPointManagerInitialRequestSent; ParameterManager* _parameterManager = nullptr; VehicleObjectAvoidance* _objectAvoidance = nullptr; #if defined(QGC_AIRMAP_ENABLED) AirspaceVehicleManager* _airspaceVehicleManager; #endif bool _armed; ///< true: vehicle is armed uint8_t _base_mode; ///< base_mode from HEARTBEAT uint32_t _custom_mode; ///< custom_mode from HEARTBEAT /// Used to store a message being sent by sendMessageMultiple typedef struct { mavlink_message_t message; ///< Message to send multiple times int retryCount; ///< Number of retries left } SendMessageMultipleInfo_t; QList _sendMessageMultipleList; ///< List of messages being sent multiple times static const int _sendMessageMultipleRetries = 5; static const int _sendMessageMultipleIntraMessageDelay = 500; QTimer _sendMultipleTimer; int _nextSendMessageMultipleIndex; QTime _flightTimer; QTimer _flightTimeUpdater; TrajectoryPoints* _trajectoryPoints; QmlObjectListModel _cameraTriggerPoints; //QMap _trafficVehicleMap; // Toolbox references FirmwarePluginManager* _firmwarePluginManager; JoystickManager* _joystickManager; int _flowImageIndex; bool _allLinksInactiveSent; ///< true: allLinkInactive signal already sent one time uint _messagesReceived; uint _messagesSent; uint _messagesLost; uint8_t _messageSeq; uint8_t _compID; bool _heardFrom; float _curGimbalRoll = 0.0f; float _curGimbalPitch = 0.0f; float _curGinmbalYaw = 0.0f; bool _haveGimbalData = false; bool _isROIEnabled = false; Joystick* _activeJoystick = nullptr; bool _checkLatestStableFWDone = false; int _firmwareMajorVersion; int _firmwareMinorVersion; int _firmwarePatchVersion; int _firmwareCustomMajorVersion; int _firmwareCustomMinorVersion; int _firmwareCustomPatchVersion; FIRMWARE_VERSION_TYPE _firmwareVersionType; QString _gitHash; quint64 _uid; QTime _lastBatteryAnnouncement; int _lastAnnouncedLowBatteryPercent; SharedLinkInterfacePointer _priorityLink; // We always keep a reference to the priority link to manage shutdown ordering bool _priorityLinkCommanded; uint64_t _mavlinkSentCount = 0; uint64_t _mavlinkReceivedCount = 0; uint64_t _mavlinkLossCount = 0; float _mavlinkLossPercent = 0.0f; QMap _noisySpokenPrearmMap; ///< Used to prevent PreArm messages from being spoken too often // Orbit status values bool _orbitActive; QGCMapCircle _orbitMapCircle; QTimer _orbitTelemetryTimer; static const int _orbitTelemetryTimeoutMsecs = 3000; // No telemetry for this amount and orbit will go inactive // PID Tuning telemetry mode bool _pidTuningTelemetryMode; bool _pidTuningWaitingForRates; QList _pidTuningMessages; QMap _pidTuningMessageRatesUsecs; // FactGroup facts Fact _rollFact; Fact _pitchFact; Fact _headingFact; Fact _rollRateFact; Fact _pitchRateFact; Fact _yawRateFact; Fact _groundSpeedFact; Fact _airSpeedFact; Fact _climbRateFact; Fact _altitudeRelativeFact; Fact _altitudeAMSLFact; Fact _flightDistanceFact; Fact _flightTimeFact; Fact _distanceToHomeFact; Fact _headingToNextWPFact; Fact _headingToHomeFact; Fact _distanceToGCSFact; Fact _hobbsFact; Fact _throttlePctFact; VehicleGPSFactGroup _gpsFactGroup; VehicleBatteryFactGroup _battery1FactGroup; VehicleBatteryFactGroup _battery2FactGroup; VehicleWindFactGroup _windFactGroup; VehicleVibrationFactGroup _vibrationFactGroup; VehicleTemperatureFactGroup _temperatureFactGroup; VehicleClockFactGroup _clockFactGroup; VehicleSetpointFactGroup _setpointFactGroup; VehicleDistanceSensorFactGroup _distanceSensorFactGroup; VehicleEstimatorStatusFactGroup _estimatorStatusFactGroup; static const char* _rollFactName; static const char* _pitchFactName; static const char* _headingFactName; static const char* _rollRateFactName; static const char* _pitchRateFactName; static const char* _yawRateFactName; static const char* _groundSpeedFactName; static const char* _airSpeedFactName; static const char* _climbRateFactName; static const char* _altitudeRelativeFactName; static const char* _altitudeAMSLFactName; static const char* _flightDistanceFactName; static const char* _flightTimeFactName; static const char* _distanceToHomeFactName; static const char* _headingToNextWPFactName; static const char* _headingToHomeFactName; static const char* _distanceToGCSFactName; static const char* _hobbsFactName; static const char* _throttlePctFactName; static const char* _gpsFactGroupName; static const char* _battery1FactGroupName; static const char* _battery2FactGroupName; static const char* _windFactGroupName; static const char* _vibrationFactGroupName; static const char* _temperatureFactGroupName; static const char* _clockFactGroupName; static const char* _distanceSensorFactGroupName; static const char* _estimatorStatusFactGroupName; static const int _vehicleUIUpdateRateMSecs = 100; // Settings keys static const char* _settingsGroup; static const char* _joystickModeSettingsKey; static const char* _joystickEnabledSettingsKey; };