/**************************************************************************** * * (c) 2009-2016 QGROUNDCONTROL PROJECT * * QGroundControl is licensed according to the terms in the file * COPYING.md in the root of the source code directory. * ****************************************************************************/ #include "APMAutoPilotPlugin.h" #include "UAS.h" #include "FirmwarePlugin/APM/APMParameterMetaData.h" // FIXME: Hack #include "FirmwarePlugin/APM/APMFirmwarePlugin.h" // FIXME: Hack #include "FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h" #include "VehicleComponent.h" #include "APMAirframeComponent.h" #include "APMAirframeComponentAirframes.h" #include "APMAirframeComponentController.h" #include "APMAirframeLoader.h" #include "APMFlightModesComponent.h" #include "APMRadioComponent.h" #include "APMSafetyComponent.h" #include "APMTuningComponent.h" #include "APMSensorsComponent.h" #include "APMPowerComponent.h" #include "MotorComponent.h" #include "APMCameraComponent.h" #include "APMLightsComponent.h" #include "ESP8266Component.h" /// This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_ARDUPILOT type. APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent) : AutoPilotPlugin(vehicle, parent) , _incorrectParameterVersion(false) , _airframeComponent(NULL) , _cameraComponent(NULL) , _lightsComponent(NULL) , _flightModesComponent(NULL) , _powerComponent(NULL) #if 0 // Temporarily removed, waiting for new command implementation , _motorComponent(NULL) #endif , _radioComponent(NULL) , _safetyComponent(NULL) , _sensorsComponent(NULL) , _tuningComponent(NULL) , _airframeFacts(new APMAirframeLoader(this, vehicle->uas(), this)) , _esp8266Component(NULL) { APMAirframeLoader::loadAirframeFactMetaData(); } APMAutoPilotPlugin::~APMAutoPilotPlugin() { } const QVariantList& APMAutoPilotPlugin::vehicleComponents(void) { if (_components.count() == 0 && !_incorrectParameterVersion) { if (_vehicle->parameterManager()->parametersReady()) { _airframeComponent = new APMAirframeComponent(_vehicle, this); _airframeComponent->setupTriggerSignals(); _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent)); if ( _vehicle->supportsRadio() ) { _radioComponent = new APMRadioComponent(_vehicle, this); _radioComponent->setupTriggerSignals(); _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent)); } _flightModesComponent = new APMFlightModesComponent(_vehicle, this); _flightModesComponent->setupTriggerSignals(); _components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent)); _sensorsComponent = new APMSensorsComponent(_vehicle, this); _sensorsComponent->setupTriggerSignals(); _components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent)); _powerComponent = new APMPowerComponent(_vehicle, this); _powerComponent->setupTriggerSignals(); _components.append(QVariant::fromValue((VehicleComponent*)_powerComponent)); #if 0 // Temporarily removed, waiting for new command implementation if (_vehicle->multiRotor() || _vehicle->vtol()) { _motorComponent = new MotorComponent(_vehicle, this); _motorComponent->setupTriggerSignals(); _components.append(QVariant::fromValue((VehicleComponent*)_motorComponent)); } #endif _safetyComponent = new APMSafetyComponent(_vehicle, this); _safetyComponent->setupTriggerSignals(); _components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent)); _tuningComponent = new APMTuningComponent(_vehicle, this); _tuningComponent->setupTriggerSignals(); _components.append(QVariant::fromValue((VehicleComponent*)_tuningComponent)); _cameraComponent = new APMCameraComponent(_vehicle, this); _cameraComponent->setupTriggerSignals(); _components.append(QVariant::fromValue((VehicleComponent*)_cameraComponent)); if (_vehicle->sub()) { _lightsComponent = new APMLightsComponent(_vehicle, this); _lightsComponent->setupTriggerSignals(); _components.append(QVariant::fromValue((VehicleComponent*)_lightsComponent)); } //-- Is there an ESP8266 Connected? if(_vehicle->parameterManager()->parameterExists(MAV_COMP_ID_UDP_BRIDGE, "SW_VER")) { _esp8266Component = new ESP8266Component(_vehicle, this); _esp8266Component->setupTriggerSignals(); _components.append(QVariant::fromValue((VehicleComponent*)_esp8266Component)); } } else { qWarning() << "Call to vehicleCompenents prior to parametersReady"; } } return _components; }