SendMavlinkCommandState.h

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#pragma once
 
#include "WaitStateBase.h"
#include "QGCMAVLink.h"
 
class Vehicle;
 
class SendMavlinkCommandState : public WaitStateBase
{
    Q_OBJECT
    Q_DISABLE_COPY(SendMavlinkCommandState)
 
public:
    SendMavlinkCommandState(QState* parent, MAV_CMD command, 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);
    SendMavlinkCommandState(QState* parent);
 
    void setup(MAV_CMD command, 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);
 
signals:
    void success();
 
protected:
    void connectWaitSignal() override;
    void disconnectWaitSignal() override;
    void onWaitEntered() override;
 
private slots:
    void _mavCommandResult(int vehicleId, int targetComponent, int command, int ackResult, int failureCode);
 
private:
    MAV_CMD     _command = MAV_CMD(0);
    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;
    bool        _configured = false;
};