PX4FirmwarePlugin.h

Go to the documentation of this file.

#pragma once
 
#include "FirmwarePlugin.h"
#include "QGCMAVLink.h"
 
class PX4FirmwarePlugin : public FirmwarePlugin
{
    Q_OBJECT
 
public:
    PX4FirmwarePlugin   ();
    virtual ~PX4FirmwarePlugin  ();
 
    // Called internally only
    void _changeAltAfterPause(void* resultHandlerData, bool pauseSucceeded);
 
    // Overrides from FirmwarePlugin
 
    QList<MAV_CMD> supportedMissionCommands(QGCMAVLink::VehicleClass_t vehicleClass) const override;
 
    AutoPilotPlugin*    autopilotPlugin                 (Vehicle* vehicle) const override;
    bool                isCapable                       (const Vehicle *vehicle, FirmwareCapabilities capabilities) const override;
    QStringList         flightModes                     (Vehicle* vehicle) const override;
    QString             flightMode                      (uint8_t base_mode, uint32_t custom_mode) const override;
    bool                setFlightMode                   (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) const override;
    void                setGuidedMode                   (Vehicle* vehicle, bool guidedMode) const override;
    QString             pauseFlightMode                 (void) const override;
    QString             missionFlightMode               (void) const override;
    QString             rtlFlightMode                   (void) const override;
    QString             landFlightMode                  (void) const override;
    QString             takeControlFlightMode           (void) const override;
    QString             gotoFlightMode                  (void) const override;
    QString             followFlightMode                (void) const override;
    QString             takeOffFlightMode               (void) const override;
    QString             stabilizedFlightMode            (void) const override;
    void                pauseVehicle                    (Vehicle* vehicle) const override;
    void                guidedModeRTL                   (Vehicle* vehicle, bool smartRTL) const override;
    void                guidedModeLand                  (Vehicle* vehicle) const override;
    void                guidedModeTakeoff               (Vehicle* vehicle, double takeoffAltRel) const override;
    double              maximumHorizontalSpeedMultirotorMetersSecond(Vehicle* vehicle) const override;
    double              maximumEquivalentAirspeed(Vehicle* vehicle) const override;
    double              minimumEquivalentAirspeed(Vehicle* vehicle) const override;
    bool                mulirotorSpeedLimitsAvailable(Vehicle* vehicle) const override;
    bool                fixedWingAirSpeedLimitsAvailable(Vehicle* vehicle) const override;
    bool                guidedModeGotoLocation          (Vehicle* vehicle, const QGeoCoordinate& gotoCoord, double forwardFlightLoiterRadius) const override;
    void                guidedModeChangeAltitude        (Vehicle* vehicle, double altitudeRel, bool pauseVehicle) override;
    void                guidedModeChangeGroundSpeedMetersSecond(Vehicle* vehicle, double groundspeed) const override;
    void                guidedModeChangeEquivalentAirspeedMetersSecond(Vehicle* vehicle, double airspeed_equiv) const override;
    void                guidedModeChangeHeading         (Vehicle* vehicle, const QGeoCoordinate &headingCoord) const override;
    void                startTakeoff                    (Vehicle* vehicle) const override;
    void                startMission                    (Vehicle* vehicle) const override;
    bool                isGuidedMode                    (const Vehicle* vehicle) const override;
    void                initializeVehicle               (Vehicle* vehicle) override;
    bool                sendHomePositionToVehicle       (void) const override;
    QString             missionCommandOverrides         (QGCMAVLink::VehicleClass_t vehicleClass) const override;
    QString             _internalParameterMetaDataFile  (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/PX4/PX4ParameterFactMetaData.json"); }
    MAV_AUTOPILOT       _autopilotType                  () const override { return MAV_AUTOPILOT_PX4; }
    ParameterMetaData*  _createParameterMetaData         () final;
    bool                adjustIncomingMavlinkMessage    (Vehicle* vehicle, mavlink_message_t* message) override;
    QString             offlineEditingParamFile         (Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/PX4/PX4.OfflineEditing.params"); }
    QString             autoDisarmParameter             (Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("COM_DISARM_LAND"); }
    uint32_t            highLatencyCustomModeTo32Bits   (uint16_t hlCustomMode) const override;
    bool                supportsNegativeThrust          (Vehicle* vehicle) const override;
    QString             getHobbsMeter                   (Vehicle* vehicle) const override;
    bool                hasGripper                      (const Vehicle* vehicle) const override;
    QVariant            expandedToolbarIndicatorSource  (const Vehicle* vehicle, const QString& indicatorName) const override;
 
    void                updateAvailableFlightModes      (FlightModeList &modeList) override;
 
private slots:
    void _mavCommandResult(int vehicleId, int component, int command, int result, int failureCode);
 
private:
    void    _handleAutopilotVersion         (Vehicle* vehicle, mavlink_message_t* message);
 
    QString _getLatestVersionFileUrl        (Vehicle* vehicle) const override;
    QString _versionRegex                   () const override;
 
    // Any instance data here must be global to all vehicles
    // Vehicle specific data should go into PX4FirmwarePluginInstanceData
};
 
class PX4FirmwarePluginInstanceData : public FirmwarePluginInstanceData
{
    Q_OBJECT
 
public:
    PX4FirmwarePluginInstanceData(QObject* parent = nullptr);
 
    // anyVersionSupportsCommand returns
    // CommandSupportedResult::SUPPORTED if any version of the
    // firmware has supported cmd.  It return UNSUPPORTED if no
    // version ever has.  It returns UNKNOWN if that information is
    // not known.
    CommandSupportedResult anyVersionSupportsCommand(MAV_CMD cmd) const override {
        switch (cmd) {
        case MAV_CMD_DO_SET_MISSION_CURRENT:
            return CommandSupportedResult::UNSUPPORTED;
        default:
            return CommandSupportedResult::UNKNOWN;
        }
    }
 
    bool versionNotified;  
};