Autotune.h

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#pragma once
 
#include <QtCore/QTimer>
#include <QtQmlIntegration/QtQmlIntegration>
 
#include "VehicleTypes.h"
#include "MAVLinkMessageType.h"
#include "QGCMAVLinkTypes.h"
 
class Vehicle;
 
class Autotune : public QObject
{
    Q_OBJECT
    QML_ELEMENT
    QML_UNCREATABLE("")
 
public:
    explicit Autotune(Vehicle *vehicle);
 
    Q_PROPERTY(bool      autotuneInProgress   READ autotuneInProgress     NOTIFY autotuneChanged)
    Q_PROPERTY(float     autotuneProgress     READ autotuneProgress       NOTIFY autotuneChanged)
    Q_PROPERTY(QString   autotuneStatus       READ autotuneStatus         NOTIFY autotuneChanged)
 
    Q_INVOKABLE void autotuneRequest ();
 
    static void ackHandler      (void* resultHandlerData,   int compId, const mavlink_command_ack_t& ack, VehicleTypes::MavCmdResultFailureCode_t failureCode);
    static void progressHandler (void* progressHandlerData, int compId, const mavlink_command_ack_t& ack);
 
    bool      autotuneInProgress () { return _autotuneInProgress; }
    float     autotuneProgress   () { return _autotuneProgress; }
    QString   autotuneStatus     () { return _autotuneStatus; }
 
 
public slots:
    void sendMavlinkRequest();
 
signals:
    void autotuneChanged ();
 
private:
    void handleAckStatus(uint8_t ackProgress);
    void handleAckFailure();
    void handleAckError(uint8_t ackError);
    void startTimers();
    void stopTimers();
 
private:
    Vehicle* _vehicle                {nullptr};
    bool     _autotuneInProgress     {false};
    float    _autotuneProgress       {0.0};
    QString  _autotuneStatus         {tr("Autotune: Not performed")};
    bool     _disarmMessageDisplayed {false};
 
    QTimer   _pollTimer;         // the frequency at which the polling should be performed
 
};