QGroundControl
Ground Control Station for MAVLink Drones
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Public Member Functions | Protected Member Functions | List of all members
ArduCopterFirmwarePlugin Class Reference

#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
 Returns the mapping structure which is used to map from one parameter name to another based on firmware version.
 
int remapParamNameHigestMinorVersionNumber (int majorVersionNumber) const override
 Returns the highest major version number that is known to the remap for this specified major version.
 
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.
 
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 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 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 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 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.
 

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
 
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

Definition at line 8 of file ArduCopterFirmwarePlugin.cc.

References FirmwarePlugin::_setModeEnumToModeStringMapping(), APMCopterMode::ACRO, APMCopterMode::ALT_HOLD, APMCopterMode::AUTO, APMCopterMode::AUTO_RTL, APMCopterMode::AUTOROTATE, APMCopterMode::AUTOTUNE, APMCopterMode::AVOID_ADSB, APMCopterMode::BRAKE, APMCopterMode::CIRCLE, APMCopterMode::DRIFT, APMCopterMode::FLIP, APMCopterMode::FLOWHOLD, APMCopterMode::FOLLOW, APMCopterMode::GUIDED, APMCopterMode::GUIDED_NOGPS, APMCopterMode::LAND, APMCopterMode::LOITER, APMCopterMode::POS_HOLD, APMCopterMode::RTL, APMCopterMode::SMART_RTL, APMCopterMode::SPORT, APMCopterMode::STABILIZE, APMCopterMode::SYSTEMID, APMCopterMode::THROW, APMCopterMode::TURTLE, updateAvailableFlightModes(), and APMCopterMode::ZIGZAG.

◆ ~ArduCopterFirmwarePlugin()

ArduCopterFirmwarePlugin::~ArduCopterFirmwarePlugin ( )

Definition at line 81 of file ArduCopterFirmwarePlugin.cc.

Member Function Documentation

◆ _convertToCustomFlightModeEnum()

uint32_t ArduCopterFirmwarePlugin::_convertToCustomFlightModeEnum ( uint32_t  val) const
overrideprotectedvirtual

Reimplemented from FirmwarePlugin.

Definition at line 132 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 111 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 101 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 91 of file ArduCopterFirmwarePlugin.cc.

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

◆ 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.

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 96 of file ArduCopterFirmwarePlugin.cc.

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

◆ remapParamNameHigestMinorVersionNumber()

int ArduCopterFirmwarePlugin::remapParamNameHigestMinorVersionNumber ( int  ) const
overridevirtual

Returns the highest major version number that is known to the remap for this specified major version.

Reimplemented from FirmwarePlugin.

Definition at line 86 of file ArduCopterFirmwarePlugin.cc.

References Vehicle::versionNotSetValue.

◆ stabilizedFlightMode()

QString ArduCopterFirmwarePlugin::stabilizedFlightMode ( void  ) const
overridevirtual

Returns the flight mode for Stabilized.

Reimplemented from FirmwarePlugin.

Definition at line 116 of file ArduCopterFirmwarePlugin.cc.

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

◆ supportsSmartRTL()

bool ArduCopterFirmwarePlugin::supportsSmartRTL ( ) const
inlineoverridevirtual

Reimplemented from FirmwarePlugin.

Definition at line 62 of file ArduCopterFirmwarePlugin.h.

◆ takeControlFlightMode()

QString ArduCopterFirmwarePlugin::takeControlFlightMode ( void  ) const
overridevirtual

Returns the flight mode to use when the operator wants to take back control from autonomouse flight.

Reimplemented from FirmwarePlugin.

Definition at line 106 of file ArduCopterFirmwarePlugin.cc.

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

◆ takeOffFlightMode()

QString ArduCopterFirmwarePlugin::takeOffFlightMode ( void  ) const
inlineoverridevirtual

Returns the flight mode for TakeOff.

Reimplemented from FirmwarePlugin.

Definition at line 59 of file ArduCopterFirmwarePlugin.h.

References APMFirmwarePlugin::guidedFlightMode().

◆ updateAvailableFlightModes()

void ArduCopterFirmwarePlugin::updateAvailableFlightModes ( FlightModeList &  flightModeList)
overridevirtual

Update Available flight modes recieved from vehicle.

Reimplemented from FirmwarePlugin.

Definition at line 121 of file ArduCopterFirmwarePlugin.cc.

References FirmwarePlugin::_updateFlightModeList().

Referenced by ArduCopterFirmwarePlugin().

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