This is the base class for all stack specific APM firmware plugins. More...

#include <APMFirmwarePlugin.h>

Inheritance diagram for APMFirmwarePlugin:

Collaboration diagram for APMFirmwarePlugin:

Public Member Functions
QList< MAV_CMD >	supportedMissionCommands (QGCMAVLink::VehicleClass_t vehicleClass) const override
	List of supported mission commands. Empty list for all commands supported.

AutoPilotPlugin *	autopilotPlugin (Vehicle *vehicle) const override

bool	isCapable (const Vehicle *vehicle, FirmwareCapabilities capabilities) const override

void	setGuidedMode (Vehicle *vehicle, bool guidedMode) const override
	Set guided flight mode.

void	guidedModeTakeoff (Vehicle *vehicle, double altitudeRel) const override
	Command vehicle to takeoff from current location to the specified height.

void	guidedModeGotoLocation (Vehicle *vehicle, const QGeoCoordinate &gotoCoord, double forwardFlightLoiterRadius) const override
	Command vehicle to move to specified location (altitude is included and relative)

double	minimumTakeoffAltitudeMeters (Vehicle *vehicle) const override

void	startTakeoff (Vehicle *vehicle) const override
	Command the vehicle to start a takeoff.

void	startMission (Vehicle *vehicle) const override
	Command the vehicle to start the mission.

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

bool	MAV_CMD_DO_SET_MODE_is_supported () const override
	returns true if this flight stack supports MAV_CMD_DO_SET_MODE

bool	isGuidedMode (const Vehicle *vehicle) const override
	Returns whether the vehicle is in guided mode or not.

QString	gotoFlightMode () const override
	Returns the flight mode which the vehicle will be in if it is performing a goto location.

QString	rtlFlightMode () const override
	Returns the flight mode for RTL.

QString	smartRTLFlightMode () const override
	Returns the flight mode for Smart RTL.

QString	missionFlightMode () const override
	Returns the flight mode for running missions.

virtual QString	guidedFlightMode () const

void	pauseVehicle (Vehicle *vehicle) const override

void	guidedModeRTL (Vehicle *vehicle, bool smartRTL) const override
	Command vehicle to return to launch.

void	guidedModeChangeAltitude (Vehicle *vehicle, double altitudeChange, bool pauseVehicle) override

void	guidedModeChangeHeading (Vehicle *vehicle, const QGeoCoordinate &headingCoord) const override
	Command vehicle to rotate towards specified location.

bool	adjustIncomingMavlinkMessage (Vehicle vehicle, mavlink_message_t message) override

void	adjustOutgoingMavlinkMessageThreadSafe (Vehicle vehicle, LinkInterface outgoingLink, mavlink_message_t *message) override

virtual void	initializeStreamRates (Vehicle *vehicle)

void	initializeVehicle (Vehicle *vehicle) override
	Called when Vehicle is first created to perform any firmware specific setup.

bool	sendHomePositionToVehicle () const override

QString	missionCommandOverrides (QGCMAVLink::VehicleClass_t vehicleClass) const override

QString	_internalParameterMetaDataFile (const Vehicle *vehicle) const override

FactMetaData *	_getMetaDataForFact (QObject *parameterMetaData, const QString &name, FactMetaData::ValueType_t type, MAV_TYPE vehicleType) const override

void	_getParameterMetaDataVersionInfo (const QString &metaDataFile, int &majorVersion, int &minorVersion) const override

QObject *	_loadParameterMetaData (const QString &metaDataFile) override

QString	brandImageIndoor (const Vehicle *vehicle) const override
	Return the resource file which contains the brand image for the vehicle for Indoor theme.

QString	brandImageOutdoor (const Vehicle *vehicle) const override
	Return the resource file which contains the brand image for the vehicle for Outdoor theme.

QString	getHobbsMeter (Vehicle *vehicle) const override
	gets hobbs meter from autopilot. This should be reimplmeented for each firmware

bool	hasGripper (const Vehicle *vehicle) const override

const QVariantList &	toolIndicators (const Vehicle *vehicle) override

double	maximumEquivalentAirspeed (Vehicle *vehicle) const override

double	minimumEquivalentAirspeed (Vehicle *vehicle) const override

bool	fixedWingAirSpeedLimitsAvailable (Vehicle *vehicle) const override

void	guidedModeChangeEquivalentAirspeedMetersSecond (Vehicle *vehicle, double airspeed_equiv) const override

void	sendGCSMotionReport (Vehicle *vehicle, const FollowMe::GCSMotionReport &motionReport, uint8_t estimatationCapabilities) const override
	Sends the appropriate mavlink message for follow me support.

QVariant	expandedToolbarIndicatorSource (const Vehicle *vehicle, const QString &indicatorName) const override

bool	mulirotorSpeedLimitsAvailable (Vehicle *vehicle) const override

double	maximumHorizontalSpeedMultirotor (Vehicle *vehicle) const override

void	guidedModeChangeGroundSpeedMetersSecond (Vehicle *vehicle, double speed) const override

Public Member Functions inherited from FirmwarePlugin
	FirmwarePlugin (QObject *parent=nullptr)

virtual	~FirmwarePlugin ()

virtual QString	pauseFlightMode () const
	Returns The flight mode which indicates the vehicle is paused.

virtual bool	supportsSmartRTL () const

virtual QString	landFlightMode () const
	Returns the flight mode for Land.

virtual QString	takeOffFlightMode () const
	Returns the flight mode for TakeOff.

virtual QString	motorDetectionFlightMode () const
	Returns the flight mode for Motor Detection.

virtual QString	stabilizedFlightMode () const
	Returns the flight mode for Stabilized.

virtual QString	takeControlFlightMode () const
	Returns the flight mode to use when the operator wants to take back control from autonomouse flight.

virtual QString	followFlightMode () const
	Returns the flight mode which the vehicle will be for follow me.

virtual void	guidedModeLand (Vehicle *vehicle) const
	Command vehicle to land at current location.

virtual int	defaultJoystickTXMode () const

virtual bool	supportsThrottleModeCenterZero () const

virtual bool	supportsNegativeThrust (Vehicle *) const

virtual bool	supportsRadio () const

virtual bool	supportsJSButton () const

virtual bool	supportsMotorInterference () const

virtual const remapParamNameMajorVersionMap_t &	paramNameRemapMajorVersionMap () const
	Returns the mapping structure which is used to map from one parameter name to another based on firmware version.

virtual int	remapParamNameHigestMinorVersionNumber (int) const
	Returns the highest major version number that is known to the remap for this specified major version.

virtual bool	multiRotorCoaxialMotors (Vehicle *) const

virtual bool	multiRotorXConfig (Vehicle *) const

virtual QString	offlineEditingParamFile (Vehicle *) const
	Return the resource file which contains the set of params loaded for offline editing.

virtual QString	vehicleImageOpaque (const Vehicle *) const
	Return the resource file which contains the vehicle icon used in the flight view when the view is dark (Satellite for instance)

virtual QString	vehicleImageOutline (const Vehicle *) const
	Return the resource file which contains the vehicle icon used in the flight view when the view is light (Map for instance)

virtual QGCCameraManager *	createCameraManager (Vehicle *vehicle) const
	Creates vehicle camera manager.

virtual MavlinkCameraControl *	createCameraControl (const mavlink_camera_information_t info, Vehicle vehicle, int compID, QObject *parent=nullptr) const
	Camera control.

virtual QMap< QString, FactGroup * > *	factGroups ()
	Returns a pointer to a dictionary of firmware-specific FactGroups.

virtual void	batteryConsumptionData (Vehicle *vehicle, int &mAhBattery, double &hoverAmps, double &cruiseAmps) const

virtual QString	autoDisarmParameter (Vehicle *) const

virtual bool	hasGimbal (Vehicle *vehicle, bool &rollSupported, bool &pitchSupported, bool &yawSupported) const

virtual uint32_t	highLatencyCustomModeTo32Bits (uint16_t hlCustomMode) const
	Convert from HIGH_LATENCY2.custom_mode value to correct 32 bit value.

virtual void	checkIfIsLatestStable (Vehicle *vehicle) const
	Used to check if running firmware is latest stable version.

int	versionCompare (const Vehicle *vehicle, const QString &compare) const

int	versionCompare (const Vehicle *vehicle, int major, int minor, int patch) const

virtual void	adjustMetaData (MAV_TYPE, FactMetaData *)

virtual Autotune *	createAutotune (Vehicle *vehicle) const
	Creates Autotune object.

virtual void	updateAvailableFlightModes (FlightModeList &flightModeList)
	Update Available flight modes recieved from vehicle.

Static Public Member Functions
static QPair< QMetaObject::Connection, QMetaObject::Connection >	startCompensatingBaro (Vehicle *vehicle)

static bool	stopCompensatingBaro (const Vehicle *vehicle, QPair< QMetaObject::Connection, QMetaObject::Connection > updaters)

static qreal	calcAltOffsetPT (uint32_t atmospheric1, qreal temperature1, uint32_t atmospheric2, qreal temperature2)

static qreal	calcAltOffsetP (uint32_t atmospheric1, uint32_t atmospheric2)

Protected Member Functions
	APMFirmwarePlugin (QObject *parent=nullptr)
	All access to singleton is through stack specific implementation.

virtual	~APMFirmwarePlugin ()

void	setSupportedModes (QList< APMCustomMode > supportedModes)

Protected Member Functions inherited from FirmwarePlugin
bool	_armVehicleAndValidate (Vehicle *vehicle) const

bool	_setFlightModeAndValidate (Vehicle *vehicle, const QString &flightMode) const

virtual void	_versionFileDownloadFinished (const QString &remoteFile, const QString &localFile, const Vehicle *vehicle) const
	Callback to process file with latest release information.

void	_setModeEnumToModeStringMapping (FlightModeCustomModeMap enumToString)

virtual uint32_t	_convertToCustomFlightModeEnum (uint32_t val) const

void	_updateFlightModeList (FlightModeList &flightModeList)

void	_addNewFlightMode (FirmwareFlightMode &flightMode)

Protected Attributes
bool	_coaxialMotors = false

const QString	_guidedFlightMode = tr("Guided")

const QString	_rtlFlightMode = tr("RTL")

const QString	_smartRtlFlightMode = tr("Smart RTL")

const QString	_autoFlightMode = tr("Auto")

Protected Attributes inherited from FirmwarePlugin
FlightModeList	_flightModeList

FlightModeCustomModeMap	_modeEnumToString

QVariantList	_toolIndicatorList

QVariantList	_modeIndicatorList

Additional Inherited Members
Public Types inherited from FirmwarePlugin
enum	FirmwareCapabilities { SetFlightModeCapability = 1 << 0 , PauseVehicleCapability = 1 << 1 , GuidedModeCapability = 1 << 2 , OrbitModeCapability = 1 << 3 , TakeoffVehicleCapability = 1 << 4 , ROIModeCapability = 1 << 5 , ChangeHeadingCapability = 1 << 6 , GuidedTakeoffCapability = 1 << 7 }
	Set of optional capabilites which firmware may support. More...

typedef QMap< QString, QString >	remapParamNameMap_t

typedef QMap< int, remapParamNameMap_t >	remapParamNameMinorVersionRemapMap_t

typedef QMap< int, remapParamNameMinorVersionRemapMap_t >	remapParamNameMajorVersionMap_t

Signals inherited from FirmwarePlugin
void	toolIndicatorsChanged ()

Detailed Description

This is the base class for all stack specific APM firmware plugins.

Definition at line 24 of file APMFirmwarePlugin.h.

Constructor & Destructor Documentation

◆ APMFirmwarePlugin()

APMFirmwarePlugin::APMFirmwarePlugin ( QObject * parent = nullptr )

explicitprotected

All access to singleton is through stack specific implementation.

Definition at line 30 of file APMFirmwarePlugin.cc.

References APMCustomMode::AUTO, APMCustomMode::GUIDED, APMCustomMode::RTL, and APMCustomMode::SMART_RTL.

◆ ~APMFirmwarePlugin()

APMFirmwarePlugin::~APMFirmwarePlugin ( )

protectedvirtual

Definition at line 51 of file APMFirmwarePlugin.cc.

Member Function Documentation

◆ _getMetaDataForFact()

FactMetaData * APMFirmwarePlugin::_getMetaDataForFact	(	QObject *	,
		const QString &	,
		FactMetaData::ValueType_t	,
		MAV_TYPE
	)		const

overridevirtual

Returns the FactMetaData associated with the parameter name

Parameters

opaqueParameterMetaData Opaque pointer returned from loadParameterMetaData Important: Only CompInfoParam code should use this method

Reimplemented from FirmwarePlugin.

Definition at line 516 of file APMFirmwarePlugin.cc.

References APMParameterMetaData::getMetaDataForFact().

◆ _getParameterMetaDataVersionInfo()

void APMFirmwarePlugin::_getParameterMetaDataVersionInfo	(	const QString &	metaDataFile,
		int &	majorVersion,
		int &	minorVersion
	)		const

overridevirtual

Returns the parameter set version info pulled from inside the meta data file. -1 if not found. Note: The implementation for this must not vary by vehicle type. Important: Only CompInfoParam code should use this method

Reimplemented from FirmwarePlugin.

Definition at line 529 of file APMFirmwarePlugin.cc.

References APMParameterMetaData::getParameterMetaDataVersionInfo().

◆ _internalParameterMetaDataFile()

QString APMFirmwarePlugin::_internalParameterMetaDataFile ( const Vehicle * ) const

overridevirtual

Returns the internal resource parameter meta date file. Important: Only CompInfoParam code should use this method

Reimplemented from FirmwarePlugin.

Definition at line 718 of file APMFirmwarePlugin.cc.

References Vehicle::firmwareMajorVersion(), Vehicle::firmwareMinorVersion(), QGCMAVLink::vehicleClass(), and Vehicle::vehicleType().

◆ _loadParameterMetaData()

QObject * APMFirmwarePlugin::_loadParameterMetaData ( const QString & )

overridevirtual

Loads the specified parameter meta data file.

Returns: Opaque parameter meta data information which must be stored with Vehicle. Vehicle is responsible to call deleteParameterMetaData when no longer needed. Important: Only CompInfoParam code should use this method

Reimplemented from FirmwarePlugin.

Definition at line 613 of file APMFirmwarePlugin.cc.

References APMParameterMetaData::loadParameterFactMetaDataFile().

◆ adjustIncomingMavlinkMessage()

bool APMFirmwarePlugin::adjustIncomingMavlinkMessage	(	Vehicle *	,
		mavlink_message_t *
	)

overridevirtual

Called before any mavlink message is processed by Vehicle such that the firmwre plugin can adjust any message characteristics. This is handy to adjust or differences in mavlink spec implementations such that the base code can remain mavlink generic.

Parameters

vehicle	Vehicle message came from
message[in,out]	Mavlink message to adjust if needed.

Returns: false: skip message, true: process message

Reimplemented from FirmwarePlugin.

Reimplemented in ArduSubFirmwarePlugin.

Definition at line 285 of file APMFirmwarePlugin.cc.

References Vehicle::firmwarePluginInstanceData(), Vehicle::id(), and initializeStreamRates().

Referenced by ArduSubFirmwarePlugin::adjustIncomingMavlinkMessage().

◆ adjustOutgoingMavlinkMessageThreadSafe()

void APMFirmwarePlugin::adjustOutgoingMavlinkMessageThreadSafe	(	Vehicle *	,
		LinkInterface *	,
		mavlink_message_t *
	)

overridevirtual

Called before any mavlink message is sent to the Vehicle so plugin can adjust any message characteristics. This is handy to adjust or differences in mavlink spec implementations such that the base code can remain mavlink generic.

This method must be thread safe.

@param vehicle Vehicle message came from
@param outgoingLink Link that messae is going out on
@param message[in,out] Mavlink message to adjust if needed.

Reimplemented from FirmwarePlugin.

Definition at line 325 of file APMFirmwarePlugin.cc.

◆ autopilotPlugin()

AutoPilotPlugin * APMFirmwarePlugin::autopilotPlugin ( Vehicle * vehicle ) const

overridevirtual

Returns: The AutoPilotPlugin associated with this firmware plugin. Must be overridden.

Reimplemented from FirmwarePlugin.

Definition at line 56 of file APMFirmwarePlugin.cc.

◆ brandImageIndoor()

QString APMFirmwarePlugin::brandImageIndoor ( const Vehicle * ) const

inlineoverridevirtual

Return the resource file which contains the brand image for the vehicle for Indoor theme.

Reimplemented from FirmwarePlugin.

Reimplemented in ArduSubFirmwarePlugin.

Definition at line 62 of file APMFirmwarePlugin.h.

◆ brandImageOutdoor()

QString APMFirmwarePlugin::brandImageOutdoor ( const Vehicle * ) const

inlineoverridevirtual

Return the resource file which contains the brand image for the vehicle for Outdoor theme.

Reimplemented from FirmwarePlugin.

Reimplemented in ArduSubFirmwarePlugin.

Definition at line 63 of file APMFirmwarePlugin.h.

◆ calcAltOffsetP()

qreal APMFirmwarePlugin::calcAltOffsetP	(	uint32_t	atmospheric1,
		uint32_t	atmospheric2
	)

static

Definition at line 1314 of file APMFirmwarePlugin.cc.

Referenced by startCompensatingBaro().

◆ calcAltOffsetPT()

qreal APMFirmwarePlugin::calcAltOffsetPT	(	uint32_t	atmospheric1,
		qreal	temperature1,
		uint32_t	atmospheric2,
		qreal	temperature2
	)

static

Definition at line 1306 of file APMFirmwarePlugin.cc.

Referenced by startCompensatingBaro().

◆ expandedToolbarIndicatorSource()

QVariant APMFirmwarePlugin::expandedToolbarIndicatorSource	(	const Vehicle *	vehicle,
		const QString &	indicatorName
	)		const

overridevirtual

Reimplemented from FirmwarePlugin.

Definition at line 1386 of file APMFirmwarePlugin.cc.

References Vehicle::multiRotor().

◆ fixedWingAirSpeedLimitsAvailable()

bool APMFirmwarePlugin::fixedWingAirSpeedLimitsAvailable ( Vehicle * ) const

overridevirtual

Returns: Return true if we have received the airspeed limits for fixed wing.

Reimplemented from FirmwarePlugin.

Definition at line 1252 of file APMFirmwarePlugin.cc.

References ParameterManager::defaultComponentId, ParameterManager::parameterExists(), and Vehicle::parameterManager().

◆ flightMode()

QString APMFirmwarePlugin::flightMode	(	uint8_t	base_mode,
		uint32_t	custom_mode
	)		const

overridevirtual

Returns the name for this flight mode. Flight mode names must be human readable as well as audio speakable.

Parameters

base_mode	Base mode from mavlink HEARTBEAT message
custom_mode	Custom mode from mavlink HEARTBEAT message

Reimplemented from FirmwarePlugin.

Definition at line 92 of file APMFirmwarePlugin.cc.

References FirmwarePlugin::_modeEnumToString, and flightMode().

Referenced by flightMode(), and setFlightMode().

◆ flightModes()

QStringList APMFirmwarePlugin::flightModes ( Vehicle * ) const

overridevirtual

Returns the list of available flight modes for the Fly View dropdown. This may or may not be the full list available from the firmware. Call will be made again if advanced mode changes.

Reimplemented from FirmwarePlugin.

Definition at line 80 of file APMFirmwarePlugin.cc.

References FirmwarePlugin::_flightModeList.

◆ getHobbsMeter()

QString APMFirmwarePlugin::getHobbsMeter ( Vehicle * vehicle ) const

overridevirtual

gets hobbs meter from autopilot. This should be reimplmeented for each firmware

Reimplemented from FirmwarePlugin.

Definition at line 622 of file APMFirmwarePlugin.cc.

References ParameterManager::defaultComponentId, ParameterManager::getParameter(), ParameterManager::parameterExists(), and Vehicle::parameterManager().

◆ gotoFlightMode()

QString APMFirmwarePlugin::gotoFlightMode ( void ) const

inlineoverridevirtual

Returns the flight mode which the vehicle will be in if it is performing a goto location.

Reimplemented from FirmwarePlugin.

Reimplemented in ArduCopterFirmwarePlugin.

Definition at line 43 of file APMFirmwarePlugin.h.

References guidedFlightMode().

◆ guidedFlightMode()

QString APMFirmwarePlugin::guidedFlightMode ( ) const

virtual

Definition at line 682 of file APMFirmwarePlugin.cc.

References FirmwarePlugin::_convertToCustomFlightModeEnum(), _guidedFlightMode, FirmwarePlugin::_modeEnumToString, and APMCustomMode::GUIDED.

Referenced by gotoFlightMode(), ArduCopterFirmwarePlugin::gotoFlightMode(), isGuidedMode(), setGuidedMode(), startMission(), and ArduCopterFirmwarePlugin::takeOffFlightMode().

◆ guidedModeChangeAltitude()

void APMFirmwarePlugin::guidedModeChangeAltitude	(	Vehicle *	vehicle,
		double	altitudeChange,
		bool	pauseVehicle
	)

overridevirtual

Command vehicle to change altitude

Parameters

altitudeChange	If > 0, go up by amount specified, if < 0, go down by amount specified
pauseVehicle	true: pause vehicle prior to altitude change

Reimplemented from FirmwarePlugin.

Reimplemented in ArduRoverFirmwarePlugin.

Definition at line 864 of file APMFirmwarePlugin.cc.

References FirmwarePlugin::_setFlightModeAndValidate(), Vehicle::defaultComponentId(), MAVLinkProtocol::getComponentId(), Vehicle::id(), MAVLinkProtocol::instance(), FirmwarePlugin::pauseFlightMode(), pauseVehicle(), VehicleLinkManager::primaryLink(), qgcApp, Vehicle::sendMessageOnLinkThreadSafe(), setGuidedMode(), and Vehicle::vehicleLinkManager().

◆ guidedModeChangeEquivalentAirspeedMetersSecond()

void APMFirmwarePlugin::guidedModeChangeEquivalentAirspeedMetersSecond	(	Vehicle *	vehicle,
		double	airspeed_equiv
	)		const

overridevirtual

Command vehicle to change equivalent airspeed

Parameters

airspeed_equiv Equivalent airspeed in m/s

Reimplemented from FirmwarePlugin.

Definition at line 1258 of file APMFirmwarePlugin.cc.

References Vehicle::defaultComponentId(), and Vehicle::sendMavCommand().

◆ guidedModeChangeGroundSpeedMetersSecond()

void APMFirmwarePlugin::guidedModeChangeGroundSpeedMetersSecond	(	Vehicle *	vehicle,
		double	groundspeed
	)		const

overridevirtual

Command vehicle to change groundspeed

Parameters

groundspeed Groundspeed in m/s

Reimplemented from FirmwarePlugin.

Definition at line 926 of file APMFirmwarePlugin.cc.

References Vehicle::defaultComponentId(), and Vehicle::sendMavCommand().

◆ guidedModeChangeHeading()

void APMFirmwarePlugin::guidedModeChangeHeading	(	Vehicle *	vehicle,
		const QGeoCoordinate &	headingCoord
	)		const

overridevirtual

Command vehicle to rotate towards specified location.

Reimplemented from FirmwarePlugin.

Definition at line 945 of file APMFirmwarePlugin.cc.

References FirmwarePlugin::ChangeHeadingCapability, Vehicle::coordinate(), ParameterManager::defaultComponentId, Vehicle::defaultComponentId(), ParameterManager::getParameter(), isCapable(), ParameterManager::parameterExists(), Vehicle::parameterManager(), qgcApp, and Vehicle::sendMavCommand().

◆ guidedModeGotoLocation()

void APMFirmwarePlugin::guidedModeGotoLocation	(	Vehicle *	vehicle,
		const QGeoCoordinate &	gotoCoord,
		double	forwardFlightLoiterRadius
	)		const

overridevirtual

Command vehicle to move to specified location (altitude is included and relative)

Reimplemented from FirmwarePlugin.

Definition at line 795 of file APMFirmwarePlugin.cc.

References _MAV_CMD_DO_REPOSITION_ResultHandler(), Vehicle::defaultComponentId(), Vehicle::firmwarePluginInstanceData(), Vehicle::missionManager(), qgcApp, Vehicle::MavCmdAckHandlerInfo_s::resultHandler, Vehicle::MavCmdAckHandlerInfo_s::resultHandlerData, Vehicle::sendMavCommandIntWithHandler(), setGuidedMode(), and MissionManager::writeArduPilotGuidedMissionItem().

◆ guidedModeRTL()

void APMFirmwarePlugin::guidedModeRTL	(	Vehicle *	vehicle,
		bool	smartRTL
	)		const

overridevirtual

Command vehicle to return to launch.

Reimplemented from FirmwarePlugin.

Definition at line 859 of file APMFirmwarePlugin.cc.

References FirmwarePlugin::_setFlightModeAndValidate(), rtlFlightMode(), and smartRTLFlightMode().

◆ guidedModeTakeoff()

void APMFirmwarePlugin::guidedModeTakeoff	(	Vehicle *	vehicle,
		double	takeoffAltRel
	)		const

overridevirtual

Command vehicle to takeoff from current location to the specified height.

Reimplemented from FirmwarePlugin.

Definition at line 940 of file APMFirmwarePlugin.cc.

◆ hasGripper()

bool APMFirmwarePlugin::hasGripper ( const Vehicle * ) const

overridevirtual

Returns: Return true if the GCS has enabled Grip_enable option

Reimplemented from FirmwarePlugin.

Definition at line 640 of file APMFirmwarePlugin.cc.

References ParameterManager::defaultComponentId, ParameterManager::getParameter(), ParameterManager::parameterExists(), and Vehicle::parameterManager().

◆ initializeStreamRates()

void APMFirmwarePlugin::initializeStreamRates ( Vehicle * vehicle )

virtual

Reimplemented in ArduSubFirmwarePlugin.

Definition at line 382 of file APMFirmwarePlugin.cc.

References Vehicle::firmwarePluginInstanceData(), Vehicle::requestDataStream(), Vehicle::sendMavCommand(), Vehicle::setFirmwarePluginInstanceData(), APMMavlinkStreamRateSettings::streamRateExtendedStatus(), APMMavlinkStreamRateSettings::streamRateExtra1(), APMMavlinkStreamRateSettings::streamRateExtra2(), APMMavlinkStreamRateSettings::streamRateExtra3(), APMMavlinkStreamRateSettings::streamRatePosition(), APMMavlinkStreamRateSettings::streamRateRawSensors(), and APMMavlinkStreamRateSettings::streamRateRCChannels().

Referenced by adjustIncomingMavlinkMessage(), and initializeVehicle().

◆ initializeVehicle()

void APMFirmwarePlugin::initializeVehicle ( Vehicle * )

overridevirtual

Called when Vehicle is first created to perform any firmware specific setup.

Reimplemented from FirmwarePlugin.

Definition at line 499 of file APMFirmwarePlugin.cc.

References initializeStreamRates(), Vehicle::isOfflineEditingVehicle(), FirmwarePlugin::offlineEditingParamFile(), Vehicle::setFirmwareVersion(), and VideoSettings::videoSource3DRSolo.

◆ isCapable()

bool APMFirmwarePlugin::isCapable	(	const Vehicle *	,
		FirmwareCapabilities
	)		const

overridevirtual

Returns: true: Firmware supports all specified capabilites

Reimplemented from FirmwarePlugin.

Reimplemented in ArduSubFirmwarePlugin.

Definition at line 61 of file APMFirmwarePlugin.cc.

References FirmwarePlugin::ChangeHeadingCapability, Vehicle::fixedWing(), FirmwarePlugin::GuidedModeCapability, FirmwarePlugin::GuidedTakeoffCapability, Vehicle::multiRotor(), FirmwarePlugin::PauseVehicleCapability, FirmwarePlugin::ROIModeCapability, FirmwarePlugin::SetFlightModeCapability, Vehicle::sub(), FirmwarePlugin::TakeoffVehicleCapability, and Vehicle::vtol().

Referenced by guidedModeChangeHeading().

◆ isGuidedMode()

bool APMFirmwarePlugin::isGuidedMode ( const Vehicle * ) const

overridevirtual

Returns whether the vehicle is in guided mode or not.

Reimplemented from FirmwarePlugin.

Definition at line 662 of file APMFirmwarePlugin.cc.

References Vehicle::flightMode(), and guidedFlightMode().

◆ MAV_CMD_DO_SET_MODE_is_supported()

bool APMFirmwarePlugin::MAV_CMD_DO_SET_MODE_is_supported ( ) const

inlineoverridevirtual

returns true if this flight stack supports MAV_CMD_DO_SET_MODE

Reimplemented from FirmwarePlugin.

Definition at line 41 of file APMFirmwarePlugin.h.

◆ maximumEquivalentAirspeed()

double APMFirmwarePlugin::maximumEquivalentAirspeed ( Vehicle * ) const

overridevirtual

Returns: The maximum equivalent airspeed setpoint.

Reimplemented from FirmwarePlugin.

Definition at line 1230 of file APMFirmwarePlugin.cc.

References ParameterManager::defaultComponentId, ParameterManager::getParameter(), FirmwarePlugin::maximumEquivalentAirspeed(), ParameterManager::parameterExists(), and Vehicle::parameterManager().

◆ maximumHorizontalSpeedMultirotor()

double APMFirmwarePlugin::maximumHorizontalSpeedMultirotor ( Vehicle * ) const

overridevirtual

Returns: The maximum horizontal groundspeed for a multirotor.

Reimplemented from FirmwarePlugin.

Definition at line 915 of file APMFirmwarePlugin.cc.

References ParameterManager::defaultComponentId, ParameterManager::getParameter(), FirmwarePlugin::maximumHorizontalSpeedMultirotor(), ParameterManager::parameterExists(), and Vehicle::parameterManager().

◆ minimumEquivalentAirspeed()

double APMFirmwarePlugin::minimumEquivalentAirspeed ( Vehicle * ) const

overridevirtual

Returns: The minimum equivalent airspeed setpoint

Reimplemented from FirmwarePlugin.

Definition at line 1241 of file APMFirmwarePlugin.cc.

References ParameterManager::defaultComponentId, ParameterManager::getParameter(), FirmwarePlugin::minimumEquivalentAirspeed(), ParameterManager::parameterExists(), and Vehicle::parameterManager().

◆ minimumTakeoffAltitudeMeters()

double APMFirmwarePlugin::minimumTakeoffAltitudeMeters ( Vehicle * ) const

overridevirtual

Returns: The minimum takeoff altitude (relative) for guided takeoff.

Reimplemented from FirmwarePlugin.

Definition at line 982 of file APMFirmwarePlugin.cc.

References ParameterManager::defaultComponentId, ParameterManager::getParameter(), FirmwarePlugin::minimumTakeoffAltitudeMeters(), ParameterManager::parameterExists(), Vehicle::parameterManager(), and Vehicle::vtol().

◆ missionCommandOverrides()

QString APMFirmwarePlugin::missionCommandOverrides ( QGCMAVLink::VehicleClass_t vehicleClass ) const

overridevirtual

Returns the name of the mission command json override file for the specified vehicle type.

Parameters

vehicleClass Vehicle class to return file for, VehicleClassGeneric is a request for overrides for all vehicle types

Reimplemented from FirmwarePlugin.

Definition at line 592 of file APMFirmwarePlugin.cc.

References QGCMAVLink::VehicleClassFixedWing, QGCMAVLink::VehicleClassGeneric, QGCMAVLink::VehicleClassMultiRotor, QGCMAVLink::VehicleClassRoverBoat, QGCMAVLink::VehicleClassSub, and QGCMAVLink::VehicleClassVTOL.

◆ missionFlightMode()

QString APMFirmwarePlugin::missionFlightMode ( void ) const

overridevirtual

Returns the flight mode for running missions.

Reimplemented from FirmwarePlugin.

Definition at line 677 of file APMFirmwarePlugin.cc.

References _autoFlightMode, FirmwarePlugin::_convertToCustomFlightModeEnum(), FirmwarePlugin::_modeEnumToString, and APMCustomMode::AUTO.

Referenced by startMission().

◆ mulirotorSpeedLimitsAvailable()

bool APMFirmwarePlugin::mulirotorSpeedLimitsAvailable ( Vehicle * ) const

overridevirtual

Returns: Return true if we have received the ground speed limits for the mulirotor.

Reimplemented from FirmwarePlugin.

Definition at line 910 of file APMFirmwarePlugin.cc.

References ParameterManager::defaultComponentId, ParameterManager::parameterExists(), and Vehicle::parameterManager().

◆ pauseVehicle()

void APMFirmwarePlugin::pauseVehicle ( Vehicle * vehicle ) const

overridevirtual

Causes the vehicle to stop at current position. If guide mode is supported, vehicle will be let in guide mode. If not, vehicle will be left in Loiter.

Reimplemented from FirmwarePlugin.

Definition at line 767 of file APMFirmwarePlugin.cc.

References FirmwarePlugin::_setFlightModeAndValidate(), and FirmwarePlugin::pauseFlightMode().

Referenced by guidedModeChangeAltitude(), and setGuidedMode().

◆ rtlFlightMode()

QString APMFirmwarePlugin::rtlFlightMode ( void ) const

overridevirtual

Returns the flight mode for RTL.

Reimplemented from FirmwarePlugin.

Definition at line 667 of file APMFirmwarePlugin.cc.

References FirmwarePlugin::_convertToCustomFlightModeEnum(), FirmwarePlugin::_modeEnumToString, _rtlFlightMode, and APMCustomMode::RTL.

Referenced by guidedModeRTL().

◆ sendGCSMotionReport()

void APMFirmwarePlugin::sendGCSMotionReport	(	Vehicle *	vehicle,
		const FollowMe::GCSMotionReport &	motionReport,
		uint8_t	estimationCapabilities
	)		const

overridevirtual

Sends the appropriate mavlink message for follow me support.

Reimplemented from FirmwarePlugin.

Definition at line 1157 of file APMFirmwarePlugin.cc.

References MAVLinkProtocol::getComponentId(), MAVLinkProtocol::getSystemId(), FollowMe::HEADING, FollowMe::GCSMotionReport::headingDegrees, Vehicle::homePosition(), MAVLinkProtocol::instance(), FollowMe::GCSMotionReport::lat_int, FollowMe::GCSMotionReport::lon_int, FollowMe::POS, VehicleLinkManager::primaryLink(), qgcApp, Vehicle::sendMessageOnLinkThreadSafe(), Vehicle::vehicleLinkManager(), FollowMe::VEL, FollowMe::GCSMotionReport::vxMetersPerSec, FollowMe::GCSMotionReport::vyMetersPerSec, and FollowMe::GCSMotionReport::vzMetersPerSec.

◆ sendHomePositionToVehicle()

bool APMFirmwarePlugin::sendHomePositionToVehicle ( void ) const

inlineoverridevirtual

Determines how to handle the first item of the mission item list. Internally to QGC the first item is always the home position. Generic stack does not want home position sent in the first position. Subsequent sequence numbers must be adjusted. This is the mavlink spec default.

Returns: true: Send first mission item as home position to vehicle. When vehicle has no mission items on it, it may or may not return a home position back in position 0. false: Do not send first item to vehicle, sequence numbers must be adjusted

Reimplemented from FirmwarePlugin.

Definition at line 56 of file APMFirmwarePlugin.h.

◆ setFlightMode()

bool APMFirmwarePlugin::setFlightMode	(	const QString &	flightMode,
		uint8_t *	base_mode,
		uint32_t *	custom_mode
	)		const

overridevirtual

Sets base_mode and custom_mode to specified flight mode.

Parameters

[out]	base_mode	Base mode for SET_MODE mavlink message
[out]	custom_mode	Custom mode for SET_MODE mavlink message

Reimplemented from FirmwarePlugin.

Definition at line 102 of file APMFirmwarePlugin.cc.

References FirmwarePlugin::_flightModeList, and flightMode().

◆ setGuidedMode()

void APMFirmwarePlugin::setGuidedMode	(	Vehicle *	vehicle,
		bool	guidedMode
	)		const

overridevirtual

Set guided flight mode.

Reimplemented from FirmwarePlugin.

Definition at line 758 of file APMFirmwarePlugin.cc.

References FirmwarePlugin::_setFlightModeAndValidate(), guidedFlightMode(), and pauseVehicle().

Referenced by guidedModeChangeAltitude(), and guidedModeGotoLocation().

◆ setSupportedModes()

void APMFirmwarePlugin::setSupportedModes ( QList< APMCustomMode > supportedModes )

inlineprotected

Definition at line 89 of file APMFirmwarePlugin.h.

◆ smartRTLFlightMode()

QString APMFirmwarePlugin::smartRTLFlightMode ( ) const

overridevirtual

Returns the flight mode for Smart RTL.

Reimplemented from FirmwarePlugin.

Definition at line 672 of file APMFirmwarePlugin.cc.

References FirmwarePlugin::_convertToCustomFlightModeEnum(), FirmwarePlugin::_modeEnumToString, _smartRtlFlightMode, and APMCustomMode::SMART_RTL.

Referenced by guidedModeRTL().

◆ startCompensatingBaro()

QPair< QMetaObject::Connection, QMetaObject::Connection > APMFirmwarePlugin::startCompensatingBaro ( Vehicle * vehicle )

static

Definition at line 1322 of file APMFirmwarePlugin.cc.

References calcAltOffsetP(), calcAltOffsetPT(), Vehicle::flying(), Vehicle::getInitialGCSPressure(), Vehicle::getInitialGCSTemperature(), QGCDeviceInfo::QGCAmbientTemperature::instance(), QGCDeviceInfo::QGCPressure::instance(), QGCDeviceInfo::QGCPressure::pressureUpdated(), and QGCDeviceInfo::QGCAmbientTemperature::temperatureUpdated().

◆ startMission()

void APMFirmwarePlugin::startMission ( Vehicle * vehicle ) const

overridevirtual

Command the vehicle to start the mission.

Reimplemented from FirmwarePlugin.

Definition at line 1058 of file APMFirmwarePlugin.cc.

References FirmwarePlugin::_armVehicleAndValidate(), FirmwarePlugin::_setFlightModeAndValidate(), Vehicle::armed(), Vehicle::defaultComponentId(), Vehicle::fixedWing(), Vehicle::flying(), guidedFlightMode(), missionFlightMode(), qgcApp, and Vehicle::sendMavCommand().

◆ startTakeoff()

void APMFirmwarePlugin::startTakeoff ( Vehicle * vehicle ) const

overridevirtual

Command the vehicle to start a takeoff.

Reimplemented from FirmwarePlugin.

Definition at line 1038 of file APMFirmwarePlugin.cc.

References FirmwarePlugin::_armVehicleAndValidate(), FirmwarePlugin::_setFlightModeAndValidate(), Vehicle::armed(), Vehicle::flying(), qgcApp, and FirmwarePlugin::takeOffFlightMode().

◆ stopCompensatingBaro()

bool APMFirmwarePlugin::stopCompensatingBaro	(	const Vehicle *	vehicle,
		QPair< QMetaObject::Connection, QMetaObject::Connection >	updaters
	)

static

Definition at line 1366 of file APMFirmwarePlugin.cc.

◆ supportedMissionCommands()

QList< MAV_CMD > APMFirmwarePlugin::supportedMissionCommands ( QGCMAVLink::VehicleClass_t ) const

overridevirtual

List of supported mission commands. Empty list for all commands supported.

Reimplemented from FirmwarePlugin.

Definition at line 534 of file APMFirmwarePlugin.cc.

References QGCMAVLink::VehicleClassFixedWing, QGCMAVLink::VehicleClassGeneric, QGCMAVLink::VehicleClassMultiRotor, and QGCMAVLink::VehicleClassVTOL.

◆ toolIndicators()

const QVariantList & APMFirmwarePlugin::toolIndicators ( const Vehicle * vehicle )

overridevirtual

Returns the list of toolbar tool indicators associated with a vehicle signals toolIndicatorsChanged

Returns: A list of QUrl with the indicators

Reimplemented from FirmwarePlugin.

Definition at line 649 of file APMFirmwarePlugin.cc.

References FirmwarePlugin::toolIndicators().

Member Data Documentation

◆ _autoFlightMode

const QString APMFirmwarePlugin::_autoFlightMode = tr("Auto")

protected

Definition at line 96 of file APMFirmwarePlugin.h.

Referenced by missionFlightMode().

◆ _coaxialMotors

bool APMFirmwarePlugin::_coaxialMotors = false

protected

Definition at line 91 of file APMFirmwarePlugin.h.

Referenced by ArduCopterFirmwarePlugin::multiRotorCoaxialMotors().

◆ _guidedFlightMode

const QString APMFirmwarePlugin::_guidedFlightMode = tr("Guided")

protected

Definition at line 93 of file APMFirmwarePlugin.h.

Referenced by guidedFlightMode().

◆ _rtlFlightMode

const QString APMFirmwarePlugin::_rtlFlightMode = tr("RTL")

protected

Definition at line 94 of file APMFirmwarePlugin.h.

Referenced by rtlFlightMode().

◆ _smartRtlFlightMode

const QString APMFirmwarePlugin::_smartRtlFlightMode = tr("Smart RTL")

protected

Definition at line 95 of file APMFirmwarePlugin.h.

Referenced by smartRTLFlightMode().

The documentation for this class was generated from the following files:

src/FirmwarePlugin/APM/APMFirmwarePlugin.h
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ APMFirmwarePlugin()

◆ ~APMFirmwarePlugin()

Member Function Documentation

◆ _getMetaDataForFact()

◆ _getParameterMetaDataVersionInfo()

◆ _internalParameterMetaDataFile()

◆ _loadParameterMetaData()

◆ adjustIncomingMavlinkMessage()

◆ adjustOutgoingMavlinkMessageThreadSafe()

◆ autopilotPlugin()

◆ brandImageIndoor()

◆ brandImageOutdoor()

◆ calcAltOffsetP()

◆ calcAltOffsetPT()

◆ expandedToolbarIndicatorSource()

◆ fixedWingAirSpeedLimitsAvailable()

◆ flightMode()

◆ flightModes()

◆ getHobbsMeter()

◆ gotoFlightMode()

◆ guidedFlightMode()

◆ guidedModeChangeAltitude()

◆ guidedModeChangeEquivalentAirspeedMetersSecond()

◆ guidedModeChangeGroundSpeedMetersSecond()

◆ guidedModeChangeHeading()

◆ guidedModeGotoLocation()

◆ guidedModeRTL()

◆ guidedModeTakeoff()

◆ hasGripper()

◆ initializeStreamRates()

◆ initializeVehicle()

◆ isCapable()

◆ isGuidedMode()

◆ MAV_CMD_DO_SET_MODE_is_supported()

◆ maximumEquivalentAirspeed()

◆ maximumHorizontalSpeedMultirotor()

◆ minimumEquivalentAirspeed()

◆ minimumTakeoffAltitudeMeters()

◆ missionCommandOverrides()

◆ missionFlightMode()

◆ mulirotorSpeedLimitsAvailable()

◆ pauseVehicle()

◆ rtlFlightMode()

◆ sendGCSMotionReport()

◆ sendHomePositionToVehicle()

◆ setFlightMode()

◆ setGuidedMode()

◆ setSupportedModes()

◆ smartRTLFlightMode()

◆ startCompensatingBaro()

◆ startMission()

◆ startTakeoff()

◆ stopCompensatingBaro()

◆ supportedMissionCommands()

◆ toolIndicators()

Member Data Documentation

◆ _autoFlightMode

◆ _coaxialMotors

◆ _guidedFlightMode

◆ _rtlFlightMode

◆ _smartRtlFlightMode