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New AutoPilotPlugin and VehicleSetup
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,56 @@ | ||
| /*===================================================================== | ||
| QGroundControl Open Source Ground Control Station | ||
| (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> | ||
| This file is part of the QGROUNDCONTROL project | ||
| QGROUNDCONTROL is free software: you can redistribute it and/or modify | ||
| it under the terms of the GNU General Public License as published by | ||
| the Free Software Foundation, either version 3 of the License, or | ||
| (at your option) any later version. | ||
| QGROUNDCONTROL is distributed in the hope that it will be useful, | ||
| but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| GNU General Public License for more details. | ||
| You should have received a copy of the GNU General Public License | ||
| along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>. | ||
| ======================================================================*/ | ||
|
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| /// @file | ||
| /// @author Don Gagne <[email protected]> | ||
|
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| #include "AutoPilotPlugin.h" | ||
| #include "PX4/PX4AutoPilotPlugin.h" | ||
| #include "Generic/GenericAutoPilotPlugin.h" | ||
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| static AutoPilotPlugin* PX4_AutoPilot = NULL; ///< Singleton plugin for MAV_AUTOPILOT_PX4 | ||
| static AutoPilotPlugin* Generic_AutoPilot = NULL; ///< Singleton plugin for AutoPilots which do not have a specifically implemented plugin | ||
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| AutoPilotPlugin::AutoPilotPlugin(void) | ||
| { | ||
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| } | ||
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| AutoPilotPlugin* AutoPilotPlugin::getInstanceForAutoPilotPlugin(int autopilotType) | ||
| { | ||
| switch (autopilotType) { | ||
| case MAV_AUTOPILOT_PX4: | ||
| if (PX4_AutoPilot == NULL) { | ||
| PX4_AutoPilot = new PX4AutoPilotPlugin; | ||
| } | ||
| Q_ASSERT(PX4_AutoPilot); | ||
| return PX4_AutoPilot; | ||
|
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| default: | ||
| if (Generic_AutoPilot == NULL) { | ||
| Generic_AutoPilot = new GenericAutoPilotPlugin; | ||
| } | ||
| Q_ASSERT(Generic_AutoPilot); | ||
| return Generic_AutoPilot; | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,69 @@ | ||
| /*===================================================================== | ||
| QGroundControl Open Source Ground Control Station | ||
| (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> | ||
| This file is part of the QGROUNDCONTROL project | ||
| QGROUNDCONTROL is free software: you can redistribute it and/or modify | ||
| it under the terms of the GNU General Public License as published by | ||
| the Free Software Foundation, either version 3 of the License, or | ||
| (at your option) any later version. | ||
| QGROUNDCONTROL is distributed in the hope that it will be useful, | ||
| but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| GNU General Public License for more details. | ||
| You should have received a copy of the GNU General Public License | ||
| along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>. | ||
| ======================================================================*/ | ||
|
|
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| #ifndef AUTOPILOTPLUGIN_H | ||
| #define AUTOPILOTPLUGIN_H | ||
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| #include <QObject> | ||
| #include <QList> | ||
| #include <QString> | ||
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| #include "UASInterface.h" | ||
| #include "VehicleComponent.h" | ||
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| /// @file | ||
| /// @brief The AutoPilotPlugin class is an abstract base class which represent the methods and objects | ||
| /// which are specific to a certain AutoPilot. This is the only place where AutoPilot specific | ||
| /// code should reside in QGroundControl. The remainder of the QGroundControl source is | ||
| /// generic to a common mavlink implementation. | ||
| /// @author Don Gagne <[email protected]> | ||
|
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| class AutoPilotPlugin : public QObject | ||
| { | ||
| Q_OBJECT | ||
|
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| public: | ||
| /// @brief Returns the singleton AutoPilot instance for the specified auto pilot type. | ||
| /// @param autopilotType Specified using the MAV_AUTOPILOT_* values. | ||
| static AutoPilotPlugin* getInstanceForAutoPilotPlugin(int autopilotType); | ||
|
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| /// @brief Returns the list of VehicleComponent objects associated with the AutoPilot. | ||
| virtual QList<VehicleComponent*> getVehicleComponents(UASInterface* uas) const = 0; | ||
|
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| typedef struct { | ||
| uint8_t baseMode; | ||
| uint32_t customMode; | ||
| } FullMode_t; | ||
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| /// @brief Returns the list of modes which are available for this AutoPilot. | ||
| virtual QList<FullMode_t> getModes(void) const = 0; | ||
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| /// @brief Returns a human readable short description for the specified mode. | ||
| virtual QString getShortModeText(uint8_t baseMode, uint32_t customMode) const = 0; | ||
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| protected: | ||
| // All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin | ||
| AutoPilotPlugin(void); | ||
| }; | ||
|
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| #endif |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,86 @@ | ||
| /*===================================================================== | ||
| QGroundControl Open Source Ground Control Station | ||
| (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> | ||
| This file is part of the QGROUNDCONTROL project | ||
| QGROUNDCONTROL is free software: you can redistribute it and/or modify | ||
| it under the terms of the GNU General Public License as published by | ||
| the Free Software Foundation, either version 3 of the License, or | ||
| (at your option) any later version. | ||
| QGROUNDCONTROL is distributed in the hope that it will be useful, | ||
| but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| GNU General Public License for more details. | ||
| You should have received a copy of the GNU General Public License | ||
| along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>. | ||
| ======================================================================*/ | ||
|
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| /// @file | ||
| /// @author Don Gagne <[email protected]> | ||
|
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| #include "GenericAutoPilotPlugin.h" | ||
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| GenericAutoPilotPlugin::GenericAutoPilotPlugin(void) | ||
| { | ||
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| } | ||
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| QList<VehicleComponent*> GenericAutoPilotPlugin::getVehicleComponents(UASInterface* uas) const | ||
| { | ||
| Q_UNUSED(uas); | ||
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| // Generic autopilot has no configurable components | ||
| return QList<VehicleComponent*>(); | ||
| } | ||
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| QList<AutoPilotPlugin::FullMode_t> GenericAutoPilotPlugin::getModes(void) const | ||
| { | ||
| QList<FullMode_t> modeList; | ||
| FullMode_t fullMode; | ||
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| fullMode.customMode = 0; | ||
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| fullMode.baseMode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; | ||
| modeList << fullMode; | ||
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| fullMode.baseMode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; | ||
| modeList << fullMode; | ||
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| fullMode.baseMode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; | ||
| modeList << fullMode; | ||
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| fullMode.baseMode = MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; | ||
| modeList << fullMode; | ||
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| return modeList; | ||
| } | ||
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| QString GenericAutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMode) const | ||
| { | ||
| Q_UNUSED(customMode); | ||
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| QString mode; | ||
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| // use base_mode - not autopilot-specific | ||
| if (baseMode == 0) { | ||
| mode = "|PREFLIGHT"; | ||
| } else if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_AUTO) { | ||
| mode = "|AUTO"; | ||
| } else if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_MANUAL) { | ||
| mode = "|MANUAL"; | ||
| if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_GUIDED) { | ||
| mode += "|GUIDED"; | ||
| } else if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_STABILIZE) { | ||
| mode += "|STABILIZED"; | ||
| } | ||
| } | ||
|
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| return mode; | ||
| } | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,46 @@ | ||
| /*===================================================================== | ||
| QGroundControl Open Source Ground Control Station | ||
| (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> | ||
| This file is part of the QGROUNDCONTROL project | ||
| QGROUNDCONTROL is free software: you can redistribute it and/or modify | ||
| it under the terms of the GNU General Public License as published by | ||
| the Free Software Foundation, either version 3 of the License, or | ||
| (at your option) any later version. | ||
| QGROUNDCONTROL is distributed in the hope that it will be useful, | ||
| but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| GNU General Public License for more details. | ||
| You should have received a copy of the GNU General Public License | ||
| along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>. | ||
| ======================================================================*/ | ||
|
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| #ifndef GENERICAUTOPILOT_H | ||
| #define GENERICAUTOPILOT_H | ||
|
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| #include "AutoPilotPlugin.h" | ||
|
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| /// @file | ||
| /// @brief This is the generic implementation of the AutoPilotPlugin class for mavs | ||
| /// we do not have a specific AutoPilotPlugin implementation. | ||
| /// @author Don Gagne <[email protected]> | ||
|
|
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| class GenericAutoPilotPlugin : public AutoPilotPlugin | ||
| { | ||
| Q_OBJECT | ||
|
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| public: | ||
| GenericAutoPilotPlugin(void); | ||
|
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| virtual QList<VehicleComponent*> getVehicleComponents(UASInterface* uas) const ; | ||
| virtual QList<FullMode_t> getModes(void) const; | ||
| virtual QString getShortModeText(uint8_t baseMode, uint32_t customMode) const; | ||
| }; | ||
|
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| #endif |
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