#include <ArduCopterFirmwarePlugin.h>

Inheritance diagram for ArduCopterFirmwarePlugin:

Collaboration diagram for ArduCopterFirmwarePlugin:

Public Member Functions
	ArduCopterFirmwarePlugin (QObject *parent=nullptr)

	~ArduCopterFirmwarePlugin ()

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

const FirmwarePlugin::remapParamNameMajorVersionMap_t &	paramNameRemapMajorVersionMap () const override

int	remapParamNameHigestMinorVersionNumber (int majorVersionNumber) const override

bool	multiRotorCoaxialMotors (Vehicle *) const override

bool	multiRotorXConfig (Vehicle *vehicle) const override

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

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

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

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

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

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

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

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

QString	autoDisarmParameter (Vehicle *vehicle) const override

bool	supportsSmartRTL () const override

void	updateAvailableFlightModes (FlightModeList &modeList) override
	Update Available flight modes recieved from vehicle.

Public Member Functions inherited from APMFirmwarePlugin
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.

bool	guidedModeGotoLocation (Vehicle *vehicle, const QGeoCoordinate &gotoCoord, double forwardFlightLoiterRadius) const override

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	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

MAV_AUTOPILOT	_autopilotType () const override

ParameterMetaData *	_createParameterMetaData () override

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

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 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 MavlinkCameraControlInterface *	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 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.

ParameterMetaData *	loadParameterMetaData (const Vehicle *vehicle)

void	cacheParameterMetaDataFile (const QString &metaDataFile)

Protected Member Functions
uint32_t	_convertToCustomFlightModeEnum (uint32_t val) const override

Protected Member Functions inherited from APMFirmwarePlugin
	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

QString	_cachedParameterMetaDataFile (const Vehicle *vehicle) 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)

void	_updateFlightModeList (FlightModeList &flightModeList)

void	_addNewFlightMode (FirmwareFlightMode &flightMode)

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 ()

Static Public Member Functions inherited from APMFirmwarePlugin
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 Attributes inherited from APMFirmwarePlugin
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

Detailed Description

Definition at line 40 of file ArduCopterFirmwarePlugin.h.

Constructor & Destructor Documentation

◆ ArduCopterFirmwarePlugin()

ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin ( QObject * parent = nullptr )

explicit

◆ ~ArduCopterFirmwarePlugin()

ArduCopterFirmwarePlugin::~ArduCopterFirmwarePlugin ( )

Definition at line 167 of file ArduCopterFirmwarePlugin.cc.

Member Function Documentation

◆ _convertToCustomFlightModeEnum()

uint32_t ArduCopterFirmwarePlugin::_convertToCustomFlightModeEnum ( uint32_t val ) const

overrideprotectedvirtual

Reimplemented from FirmwarePlugin.

Definition at line 218 of file ArduCopterFirmwarePlugin.cc.

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

◆ autoDisarmParameter()

QString ArduCopterFirmwarePlugin::autoDisarmParameter ( Vehicle * vehicle ) const

inlineoverridevirtual

Reimplemented from FirmwarePlugin.

Definition at line 61 of file ArduCopterFirmwarePlugin.h.

◆ followFlightMode()

QString ArduCopterFirmwarePlugin::followFlightMode ( void ) const

overridevirtual

Returns the flight mode which the vehicle will be for follow me.

Reimplemented from FirmwarePlugin.

Definition at line 197 of file ArduCopterFirmwarePlugin.cc.

References FirmwarePlugin::_modeEnumToString, and APMCopterMode::FOLLOW.

◆ gotoFlightMode()

QString ArduCopterFirmwarePlugin::gotoFlightMode ( void ) const

inlineoverridevirtual

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

Reimplemented from APMFirmwarePlugin.

Definition at line 58 of file ArduCopterFirmwarePlugin.h.

References APMFirmwarePlugin::guidedFlightMode().

◆ guidedModeLand()

void ArduCopterFirmwarePlugin::guidedModeLand ( Vehicle * vehicle ) const

inlineoverridevirtual

Command vehicle to land at current location.

Reimplemented from FirmwarePlugin.

Definition at line 48 of file ArduCopterFirmwarePlugin.h.

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

◆ landFlightMode()

QString ArduCopterFirmwarePlugin::landFlightMode ( void ) const

overridevirtual

Returns the flight mode for Land.

Reimplemented from FirmwarePlugin.

Definition at line 187 of file ArduCopterFirmwarePlugin.cc.

References FirmwarePlugin::_modeEnumToString, and APMCopterMode::LAND.

Referenced by guidedModeLand().

◆ multiRotorCoaxialMotors()

bool ArduCopterFirmwarePlugin::multiRotorCoaxialMotors ( Vehicle * ) const

inlineoverridevirtual

Returns: true: Motors are coaxial like an X8 config, false: Quadcopter for example

Reimplemented from FirmwarePlugin.

Definition at line 51 of file ArduCopterFirmwarePlugin.h.

References APMFirmwarePlugin::_coaxialMotors.

◆ multiRotorXConfig()

bool ArduCopterFirmwarePlugin::multiRotorXConfig ( Vehicle * ) const

overridevirtual

Returns: true: X confiuration, false: Plus configuration

Reimplemented from FirmwarePlugin.

Definition at line 177 of file ArduCopterFirmwarePlugin.cc.

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

◆ offlineEditingParamFile()

QString ArduCopterFirmwarePlugin::offlineEditingParamFile ( Vehicle * ) const

inlineoverridevirtual

Return the resource file which contains the set of params loaded for offline editing.

Reimplemented from FirmwarePlugin.

Definition at line 53 of file ArduCopterFirmwarePlugin.h.

◆ paramNameRemapMajorVersionMap()

const FirmwarePlugin::remapParamNameMajorVersionMap_t & ArduCopterFirmwarePlugin::paramNameRemapMajorVersionMap ( void ) const

inlineoverridevirtual

Returns the mapping structure which is used to map from one parameter name to another based on firmware version. See remapParamNameMap_t for details on how remapping works.

Reimplemented from FirmwarePlugin.

Definition at line 49 of file ArduCopterFirmwarePlugin.h.

◆ pauseFlightMode()

QString ArduCopterFirmwarePlugin::pauseFlightMode ( void ) const

overridevirtual

Returns The flight mode which indicates the vehicle is paused.

Reimplemented from FirmwarePlugin.

Definition at line 182 of file ArduCopterFirmwarePlugin.cc.

References FirmwarePlugin::_modeEnumToString, and APMCopterMode::BRAKE.

◆ remapParamNameHigestMinorVersionNumber()

int ArduCopterFirmwarePlugin::remapParamNameHigestMinorVersionNumber ( int ) const

overridevirtual

Returns the highest minor version number that has remap entries for the specified major version. The remap logic iterates backwards from this version down to the vehicle's actual minor version. Return VehicleTypes::versionNotSetValue if remapping is not supported for the given major version.

Reimplemented from FirmwarePlugin.

Definition at line 172 of file ArduCopterFirmwarePlugin.cc.

References VehicleTypes::versionNotSetValue.