FirmwarePlugin Class Reference

The FirmwarePlugin class represents the methods and objects which are specific to a certain Firmware flight stack. More...

#include <FirmwarePlugin.h>

Inheritance diagram for FirmwarePlugin:

Collaboration diagram for FirmwarePlugin:

Public Types
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
void	toolIndicatorsChanged ()

Public Member Functions
	FirmwarePlugin (QObject *parent=nullptr)
virtual	~FirmwarePlugin ()
virtual AutoPilotPlugin *	autopilotPlugin (Vehicle *vehicle) const
virtual void	initializeVehicle (Vehicle *)
	Called when Vehicle is first created to perform any firmware specific setup.
virtual bool	isCapable (const Vehicle *, FirmwareCapabilities) const
virtual QStringList	flightModes (Vehicle *) const
virtual QString	flightMode (uint8_t base_mode, uint32_t custom_mode) const
virtual bool	setFlightMode (const QString &flightMode, uint8_t *base_mode, uint32_t *custom_mode) const
virtual bool	MAV_CMD_DO_SET_MODE_is_supported () const
	returns true if this flight stack supports MAV_CMD_DO_SET_MODE
virtual QString	pauseFlightMode () const
	Returns The flight mode which indicates the vehicle is paused.
virtual QString	missionFlightMode () const
	Returns the flight mode for running missions.
virtual QString	rtlFlightMode () const
	Returns the flight mode for RTL.
virtual QString	smartRTLFlightMode () const
	Returns the flight mode for Smart RTL.
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 bool	isGuidedMode (const Vehicle *) const
	Returns whether the vehicle is in guided mode or not.
virtual QString	gotoFlightMode () const
	Returns the flight mode which the vehicle will be in if it is performing a goto location.
virtual QString	followFlightMode () const
	Returns the flight mode which the vehicle will be for follow me.
virtual void	setGuidedMode (Vehicle *vehicle, bool guidedMode) const
	Set guided flight mode.
virtual void	pauseVehicle (Vehicle *vehicle) const
virtual void	guidedModeRTL (Vehicle *vehicle, bool smartRTL) const
	Command vehicle to return to launch.
virtual void	guidedModeLand (Vehicle *vehicle) const
	Command vehicle to land at current location.
virtual void	guidedModeTakeoff (Vehicle *vehicle, double takeoffAltRel) const
	Command vehicle to takeoff from current location to the specified height.
virtual void	guidedModeChangeHeading (Vehicle *vehicle, const QGeoCoordinate &headingCoord) const
	Command vehicle to rotate towards specified location.
virtual double	minimumTakeoffAltitudeMeters (Vehicle *) const
virtual double	maximumHorizontalSpeedMultirotorMetersSecond (Vehicle *) const
virtual double	maximumEquivalentAirspeed (Vehicle *) const
virtual double	minimumEquivalentAirspeed (Vehicle *) const
virtual bool	hasGripper (const Vehicle *) const
virtual bool	mulirotorSpeedLimitsAvailable (Vehicle *) const
virtual bool	fixedWingAirSpeedLimitsAvailable (Vehicle *) const
virtual void	startTakeoff (Vehicle *vehicle) const
	Command the vehicle to start a takeoff.
virtual void	startMission (Vehicle *vehicle) const
	Command the vehicle to start the mission.
virtual bool	guidedModeGotoLocation (Vehicle *vehicle, const QGeoCoordinate &gotoCoord, double forwardFlightLoiterRadius=0.0) const
virtual void	guidedModeChangeAltitude (Vehicle *vehicle, double altitudeChange, bool pauseVehicle)
virtual void	guidedModeChangeGroundSpeedMetersSecond (Vehicle *vehicle, double groundspeed) const
virtual void	guidedModeChangeEquivalentAirspeedMetersSecond (Vehicle *vehicle, double airspeed_equiv) const
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 bool	adjustIncomingMavlinkMessage (Vehicle *, mavlink_message_t *)
virtual void	adjustOutgoingMavlinkMessageThreadSafe (Vehicle *, LinkInterface *, mavlink_message_t *)
virtual bool	sendHomePositionToVehicle () const
virtual QList< MAV_CMD >	supportedMissionCommands (QGCMAVLinkTypes::VehicleClass_t) const
	List of supported mission commands. Empty list for all commands supported.
virtual QString	missionCommandOverrides (QGCMAVLinkTypes::VehicleClass_t vehicleClass) const
virtual const remapParamNameMajorVersionMap_t &	paramNameRemapMajorVersionMap () const
virtual int	remapParamNameHigestMinorVersionNumber (int) const
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 QVariant	expandedToolbarIndicatorSource (const Vehicle *, const QString &) const
virtual const QVariantList &	toolIndicators (const Vehicle *vehicle)
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 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 void	sendGCSMotionReport (Vehicle *vehicle, const FollowMe::GCSMotionReport &motionReport, uint8_t estimationCapabilities) const
	Sends the appropriate mavlink message for follow me support.
virtual QString	getHobbsMeter (Vehicle *vehicle) const
	gets hobbs meter from autopilot. This should be reimplmeented for each firmware
virtual Autotune *	createAutotune (Vehicle *vehicle) const
	Creates Autotune object.
virtual void	updateAvailableFlightModes (FlightModeList &flightModeList)
	Update Available flight modes recieved from vehicle.
ParameterMetaData *	loadParameterMetaData (const Vehicle *vehicle)
void	cacheParameterMetaDataFile (const QString &metaDataFile)

Protected Member Functions
bool	_armVehicleAndValidate (Vehicle *vehicle) const
bool	_setFlightModeAndValidate (Vehicle *vehicle, const QString &flightMode) const
virtual QString	_internalParameterMetaDataFile (const Vehicle *) const
virtual MAV_AUTOPILOT	_autopilotType () const
virtual ParameterMetaData *	_createParameterMetaData ()
QString	_cachedParameterMetaDataFile (const Vehicle *vehicle) const
virtual QString	_getLatestVersionFileUrl (Vehicle *) const
	returns url with latest firmware release information.
virtual void	_versionFileDownloadFinished (const QString &remoteFile, const QString &localFile, const Vehicle *vehicle) const
	Callback to process file with latest release information.
virtual QString	_versionRegex () const
	Returns regex QString to extract version information from text.
void	_setModeEnumToModeStringMapping (FlightModeCustomModeMap enumToString)
virtual uint32_t	_convertToCustomFlightModeEnum (uint32_t val) const
void	_updateFlightModeList (FlightModeList &flightModeList)
void	_addNewFlightMode (FirmwareFlightMode &flightMode)

Protected Attributes
FlightModeList	_flightModeList
FlightModeCustomModeMap	_modeEnumToString
QVariantList	_toolIndicatorList
QVariantList	_modeIndicatorList

Detailed Description

The FirmwarePlugin class represents the methods and objects which are specific to a certain Firmware flight stack.

This is the only place where flight stack specific code should reside in QGroundControl. The remainder of the QGroundControl source is generic to a common mavlink implementation. The implementation in the base class supports mavlink generic firmware. Override the base clase virtuals to create your own firmware specific plugin.

Definition at line 72 of file FirmwarePlugin.h.

Member Typedef Documentation

remapParamNameMajorVersionMap_t

typedef QMap<int, remapParamNameMinorVersionRemapMap_t> FirmwarePlugin::remapParamNameMajorVersionMap_t

Maps from firmware major version number to remapParamNameMinorVersionRemapMap_t entry key: firmware major version value: remapParamNameMinorVersionRemapMap_t entry

Definition at line 118 of file FirmwarePlugin.h.

remapParamNameMap_t

typedef QMap<QString, QString> FirmwarePlugin::remapParamNameMap_t

Parameter name remapping support: When firmware renames a parameter across versions, callers should use the newest (current) parameter name. ParameterManager::_remapParamNameToVersion() walks the remap tables backwards from the highest known minor version down to the vehicle's actual firmware version, translating new names to old names at each step. If the name is not found in any remap table it passes through unchanged, so remapping is always safe to run.

To bypass remapping (e.g. when checking parameterExists for a specific old or new name to decide which unit conversion to apply), prefix the name with "noremap.".

Remap table entries map new_name -> old_name for the version in which the rename occurred. For example: remapV4_0["TUNE_MIN"] = "TUNE_LOW" means TUNE_LOW was renamed to TUNE_MIN in 4.0. Maps from one parameter name to another (new_name -> old_name for a given version) key: current (new) parameter name value: previous (old) parameter name

Definition at line 108 of file FirmwarePlugin.h.

remapParamNameMinorVersionRemapMap_t

typedef QMap<int, remapParamNameMap_t> FirmwarePlugin::remapParamNameMinorVersionRemapMap_t

Maps from firmware minor version to remapParamNameMap_t entry key: firmware minor version in which the rename(s) occurred value: remapParamNameMap_t with new->old mappings for that version

Definition at line 113 of file FirmwarePlugin.h.

Member Enumeration Documentation

FirmwareCapabilities

enum FirmwarePlugin::FirmwareCapabilities

Set of optional capabilites which firmware may support.

Enumerator
SetFlightModeCapability	FirmwarePlugin::setFlightMode method is supported.
PauseVehicleCapability	Vehicle supports pausing at current location.
GuidedModeCapability	Vehicle supports guided mode commands.
OrbitModeCapability	Vehicle supports orbit mode.
TakeoffVehicleCapability	Vehicle supports taking off.
ROIModeCapability	Vehicle supports ROI (both in Fly guided mode and from Plan creation)
ChangeHeadingCapability	Vehicle supports changing heading at current location.
GuidedTakeoffCapability	Vehicle supports guided takeoff.

Definition at line 81 of file FirmwarePlugin.h.

Constructor & Destructor Documentation

FirmwarePlugin()

FirmwarePlugin::FirmwarePlugin ( QObject *  parent = nullptr )

explicit

Definition at line 31 of file FirmwarePlugin.cc.

~FirmwarePlugin()

FirmwarePlugin::~FirmwarePlugin ( )

virtual

Definition at line 37 of file FirmwarePlugin.cc.

Member Function Documentation

_addNewFlightMode()

void FirmwarePlugin::_addNewFlightMode ( FirmwareFlightMode &  flightMode )

protected

Definition at line 452 of file FirmwarePlugin.cc.

References _flightModeList, FirmwareFlightMode::custom_mode, and FirmwareFlightMode::mode_name.

Referenced by _updateFlightModeList().

_armVehicleAndValidate()

bool FirmwarePlugin::_armVehicleAndValidate ( Vehicle *  vehicle ) const

protected

Arms the vehicle with validation and retries

Returns

: true - vehicle armed, false - vehicle failed to arm

Definition at line 222 of file FirmwarePlugin.cc.

References Vehicle::armed(), and Vehicle::setArmed().

Referenced by APMFirmwarePlugin::startMission(), PX4FirmwarePlugin::startMission(), APMFirmwarePlugin::startTakeoff(), and PX4FirmwarePlugin::startTakeoff().

_autopilotType()

virtual MAV_AUTOPILOT FirmwarePlugin::_autopilotType ( ) const

inlineprotectedvirtual

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 408 of file FirmwarePlugin.h.

Referenced by _cachedParameterMetaDataFile(), and cacheParameterMetaDataFile().

_cachedParameterMetaDataFile()

QString FirmwarePlugin::_cachedParameterMetaDataFile ( const Vehicle *  vehicle ) const

protected

Definition at line 493 of file FirmwarePlugin.cc.

References _autopilotType(), _internalParameterMetaDataFile(), _parameterMetaDataCacheDir(), kCachedMetaDataFilePrefix, QGC::runningUnitTests(), ParameterMetaData::versionFromFileName(), and ParameterMetaData::versionFromMetaDataFile().

Referenced by loadParameterMetaData().

_convertToCustomFlightModeEnum()

virtual uint32_t FirmwarePlugin::_convertToCustomFlightModeEnum ( uint32_t  val ) const

inlineprotectedvirtual

Reimplemented in ArduCopterFirmwarePlugin, ArduPlaneFirmwarePlugin, ArduRoverFirmwarePlugin, and ArduSubFirmwarePlugin.

Definition at line 425 of file FirmwarePlugin.h.

Referenced by APMFirmwarePlugin::guidedFlightMode(), APMFirmwarePlugin::missionFlightMode(), APMFirmwarePlugin::rtlFlightMode(), and APMFirmwarePlugin::smartRTLFlightMode().

_createParameterMetaData()

virtual ParameterMetaData * FirmwarePlugin::_createParameterMetaData ( )

inlineprotectedvirtual

Reimplemented in PX4FirmwarePlugin, and APMFirmwarePlugin.

Definition at line 409 of file FirmwarePlugin.h.

Referenced by loadParameterMetaData().

_getLatestVersionFileUrl()

virtual QString FirmwarePlugin::_getLatestVersionFileUrl ( Vehicle *  ) const

inlineprotectedvirtual

returns url with latest firmware release information.

Definition at line 413 of file FirmwarePlugin.h.

Referenced by checkIfIsLatestStable().

_internalParameterMetaDataFile()

virtual QString FirmwarePlugin::_internalParameterMetaDataFile ( const Vehicle *  ) const

inlineprotectedvirtual

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 407 of file FirmwarePlugin.h.

Referenced by _cachedParameterMetaDataFile().

_setFlightModeAndValidate()

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

protected

Sets the vehicle to the specified flight mode with validation and retries

Returns

: true - vehicle in specified flight mode, false - flight mode change failed

Definition at line 246 of file FirmwarePlugin.cc.

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

Referenced by APMFirmwarePlugin::guidedModeChangeAltitude(), ArduCopterFirmwarePlugin::guidedModeLand(), PX4FirmwarePlugin::guidedModeLand(), APMFirmwarePlugin::guidedModeRTL(), PX4FirmwarePlugin::guidedModeRTL(), APMFirmwarePlugin::pauseVehicle(), APMFirmwarePlugin::setGuidedMode(), PX4FirmwarePlugin::setGuidedMode(), APMFirmwarePlugin::startMission(), PX4FirmwarePlugin::startMission(), APMFirmwarePlugin::startTakeoff(), and PX4FirmwarePlugin::startTakeoff().

_setModeEnumToModeStringMapping()

void FirmwarePlugin::_setModeEnumToModeStringMapping ( FlightModeCustomModeMap  enumToString )

inlineprotected

Definition at line 422 of file FirmwarePlugin.h.

References _modeEnumToString.

Referenced by ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(), ArduPlaneFirmwarePlugin::ArduPlaneFirmwarePlugin(), ArduRoverFirmwarePlugin::ArduRoverFirmwarePlugin(), ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(), and PX4FirmwarePlugin::PX4FirmwarePlugin().

_updateFlightModeList()

void FirmwarePlugin::_updateFlightModeList ( FlightModeList &  flightModeList )

protected

Definition at line 437 of file FirmwarePlugin.cc.

References _addNewFlightMode(), _flightModeList, _modeEnumToString, and flightMode().

Referenced by updateAvailableFlightModes(), ArduCopterFirmwarePlugin::updateAvailableFlightModes(), ArduPlaneFirmwarePlugin::updateAvailableFlightModes(), ArduRoverFirmwarePlugin::updateAvailableFlightModes(), ArduSubFirmwarePlugin::updateAvailableFlightModes(), and PX4FirmwarePlugin::updateAvailableFlightModes().

_versionFileDownloadFinished()

void FirmwarePlugin::_versionFileDownloadFinished ( const QString &  remoteFile, const QString &  localFile, const Vehicle *  vehicle  ) const

protectedvirtual

Callback to process file with latest release information.

Definition at line 329 of file FirmwarePlugin.cc.

References _versionRegex(), Vehicle::firmwareMajorVersion(), Vehicle::firmwareMinorVersion(), Vehicle::firmwarePatchVersion(), Vehicle::firmwareVersionType(), QGC::showAppMessage(), and Vehicle::versionCompare().

Referenced by checkIfIsLatestStable().

_versionRegex()

virtual QString FirmwarePlugin::_versionRegex ( ) const

inlineprotectedvirtual

Returns regex QString to extract version information from text.

Definition at line 419 of file FirmwarePlugin.h.

Referenced by _versionFileDownloadFinished().

adjustIncomingMavlinkMessage()

virtual bool FirmwarePlugin::adjustIncomingMavlinkMessage ( Vehicle *  , mavlink_message_t *    )

inlinevirtual

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 in APMFirmwarePlugin, ArduSubFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 278 of file FirmwarePlugin.h.

adjustMetaData()

virtual void FirmwarePlugin::adjustMetaData ( MAV_TYPE  , FactMetaData *    )

inlinevirtual

Allows the Firmware plugin to override the facts meta data.

Parameters

vehicleType	- Type of current vehicle
metaData	- MetaData for fact

Reimplemented in ArduSubFirmwarePlugin.

Definition at line 378 of file FirmwarePlugin.h.

Referenced by Vehicle::Vehicle().

adjustOutgoingMavlinkMessageThreadSafe()

virtual void FirmwarePlugin::adjustOutgoingMavlinkMessageThreadSafe ( Vehicle *  , LinkInterface *  , mavlink_message_t *    )

inlinevirtual

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 in APMFirmwarePlugin.

Definition at line 289 of file FirmwarePlugin.h.

Referenced by Vehicle::sendMessageOnLinkThreadSafe().

autoDisarmParameter()

virtual QString FirmwarePlugin::autoDisarmParameter ( Vehicle *  ) const

inlinevirtual

Reimplemented in ArduCopterFirmwarePlugin, ArduPlaneFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 355 of file FirmwarePlugin.h.

Referenced by Vehicle::autoDisarm().

autopilotPlugin()

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

virtual

Returns

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

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 42 of file FirmwarePlugin.cc.

Referenced by Vehicle::Vehicle().

batteryConsumptionData()

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

virtual

Returns the data needed to do battery consumption calculations

Parameters

[out]	mAhBattery	Battery milliamp-hours rating (0 for no battery data available)
[out]	hoverAmps	Current draw in amps during hover
[out]	cruiseAmps	Current draw in amps during cruise

Definition at line 277 of file FirmwarePlugin.cc.

Referenced by MissionFlightStatusCalculator::reset().

cacheParameterMetaDataFile()

void FirmwarePlugin::cacheParameterMetaDataFile

(

const QString &

metaDataFile

)

Definition at line 546 of file FirmwarePlugin.cc.

References _autopilotType(), _parameterMetaDataCacheDir(), QGCFileHelper::atomicWrite(), kCachedMetaDataFilePrefix, QGCCompression::readFile(), ParameterMetaData::versionFromFileName(), and ParameterMetaData::versionFromJsonData().

checkIfIsLatestStable()

void FirmwarePlugin::checkIfIsLatestStable ( Vehicle *  vehicle ) const

virtual

Used to check if running firmware is latest stable version.

Definition at line 304 of file FirmwarePlugin.cc.

References _getLatestVersionFileUrl(), _versionFileDownloadFinished(), QGCFileDownload::finished(), QGC::runningUnitTests(), and QGCFileDownload::start().

createAutotune()

Autotune * FirmwarePlugin::createAutotune ( Vehicle *  vehicle ) const

virtual

Creates Autotune object.

Definition at line 432 of file FirmwarePlugin.cc.

createCameraControl()

MavlinkCameraControlInterface * FirmwarePlugin::createCameraControl ( const mavlink_camera_information_t *  info, Vehicle *  vehicle, int  compID, QObject *  parent = nullptr  ) const

virtual

Camera control.

Definition at line 299 of file FirmwarePlugin.cc.

createCameraManager()

QGCCameraManager * FirmwarePlugin::createCameraManager ( Vehicle *  vehicle ) const

virtual

Creates vehicle camera manager.

Definition at line 294 of file FirmwarePlugin.cc.

defaultJoystickTXMode()

virtual int FirmwarePlugin::defaultJoystickTXMode ( ) const

inlinevirtual

Default tx mode to apply to joystick axes TX modes are as outlined here: http://www.rc-airplane-world.com/rc-transmitter-modes.html

Reimplemented in ArduSubFirmwarePlugin.

Definition at line 249 of file FirmwarePlugin.h.

expandedToolbarIndicatorSource()

virtual QVariant FirmwarePlugin::expandedToolbarIndicatorSource ( const Vehicle *  , const QString &    ) const

inlinevirtual

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 332 of file FirmwarePlugin.h.

Referenced by Vehicle::expandedToolbarIndicatorSource().

factGroups()

virtual QMap< QString, FactGroup * > * FirmwarePlugin::factGroups ( )

inlinevirtual

Returns a pointer to a dictionary of firmware-specific FactGroups.

Reimplemented in ArduSubFirmwarePlugin.

Definition at line 346 of file FirmwarePlugin.h.

fixedWingAirSpeedLimitsAvailable()

virtual bool FirmwarePlugin::fixedWingAirSpeedLimitsAvailable ( Vehicle *  ) const

inlinevirtual

Returns

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

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 222 of file FirmwarePlugin.h.

flightMode()

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

virtual

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 in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 47 of file FirmwarePlugin.cc.

References _modeEnumToString, and flightMode().

Referenced by _setFlightModeAndValidate(), _updateFlightModeList(), Vehicle::flightMode(), flightMode(), and setFlightMode().

flightModes()

virtual QStringList FirmwarePlugin::flightModes ( Vehicle *  ) const

inlinevirtual

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 in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 131 of file FirmwarePlugin.h.

Referenced by Vehicle::flightModes().

followFlightMode()

virtual QString FirmwarePlugin::followFlightMode ( void  ) const

inlinevirtual

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

Reimplemented in ArduCopterFirmwarePlugin, ArduRoverFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 182 of file FirmwarePlugin.h.

Referenced by Vehicle::followFlightMode().

getHobbsMeter()

virtual QString FirmwarePlugin::getHobbsMeter ( Vehicle *  vehicle ) const

inlinevirtual

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

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 384 of file FirmwarePlugin.h.

Referenced by Vehicle::hobbsMeter().

gotoFlightMode()

virtual QString FirmwarePlugin::gotoFlightMode ( void  ) const

inlinevirtual

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

Reimplemented in APMFirmwarePlugin, ArduCopterFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 179 of file FirmwarePlugin.h.

Referenced by Vehicle::gotoFlightMode().

guidedModeChangeAltitude()

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

virtual

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 in APMFirmwarePlugin, ArduRoverFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 157 of file FirmwarePlugin.cc.

References guided_mode_not_supported_by_vehicle, pauseVehicle(), and QGC::showAppMessage().

Referenced by Vehicle::guidedModeChangeAltitude().

guidedModeChangeEquivalentAirspeedMetersSecond()

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

virtual

Command vehicle to change equivalent airspeed

Parameters

airspeed_equiv

Equivalent airspeed in m/s

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 168 of file FirmwarePlugin.cc.

References guided_mode_not_supported_by_vehicle, and QGC::showAppMessage().

Referenced by Vehicle::guidedModeChangeEquivalentAirspeedMetersSecond().

guidedModeChangeGroundSpeedMetersSecond()

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

virtual

Command vehicle to change groundspeed

Parameters

groundspeed

Groundspeed in m/s

Reimplemented in PX4FirmwarePlugin, and APMFirmwarePlugin.

Definition at line 163 of file FirmwarePlugin.cc.

References guided_mode_not_supported_by_vehicle, and QGC::showAppMessage().

Referenced by Vehicle::guidedModeChangeGroundSpeedMetersSecond().

guidedModeChangeHeading()

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

virtual

Command vehicle to rotate towards specified location.

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 173 of file FirmwarePlugin.cc.

References guided_mode_not_supported_by_vehicle, and QGC::showAppMessage().

Referenced by Vehicle::guidedModeChangeHeading().

guidedModeGotoLocation()

bool FirmwarePlugin::guidedModeGotoLocation ( Vehicle *  vehicle, const QGeoCoordinate &  gotoCoord, double  forwardFlightLoiterRadius = 0.0  ) const

virtual

Command vehicle to move to specified location (altitude is ignored, vehicle uses current altitude)

Returns

true: goto command accepted, false: goto failed (vehicle not moved)

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 148 of file FirmwarePlugin.cc.

References guided_mode_not_supported_by_vehicle, and QGC::showAppMessage().

Referenced by Vehicle::guidedModeGotoLocation().

guidedModeLand()

void FirmwarePlugin::guidedModeLand ( Vehicle *  vehicle ) const

virtual

Command vehicle to land at current location.

Reimplemented in ArduCopterFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 135 of file FirmwarePlugin.cc.

References guided_mode_not_supported_by_vehicle, and QGC::showAppMessage().

Referenced by Vehicle::guidedModeLand().

guidedModeRTL()

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

virtual

Command vehicle to return to launch.

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 128 of file FirmwarePlugin.cc.

References guided_mode_not_supported_by_vehicle, and QGC::showAppMessage().

Referenced by Vehicle::guidedModeRTL().

guidedModeTakeoff()

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

virtual

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

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 141 of file FirmwarePlugin.cc.

References guided_mode_not_supported_by_vehicle, and QGC::showAppMessage().

Referenced by Vehicle::guidedModeTakeoff().

hasGimbal()

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

virtual

Used to determine whether a vehicle has a gimbal.

Parameters

[out]	rollSupported	Gimbal supports roll
[out]	pitchSupported	Gimbal supports pitch
[out]	yawSupported	Gimbal supports yaw

Returns

true: vehicle has gimbal, false: gimbal support unknown

Definition at line 285 of file FirmwarePlugin.cc.

Referenced by MissionController::removeVisualItem().

hasGripper()

virtual bool FirmwarePlugin::hasGripper ( const Vehicle *  ) const

inlinevirtual

Returns

Return true if the GCS has enabled Grip_enable option

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 216 of file FirmwarePlugin.h.

Referenced by Vehicle::hasGripper().

highLatencyCustomModeTo32Bits()

virtual uint32_t FirmwarePlugin::highLatencyCustomModeTo32Bits ( uint16_t  hlCustomMode ) const

inlinevirtual

Convert from HIGH_LATENCY2.custom_mode value to correct 32 bit value.

Reimplemented in PX4FirmwarePlugin.

Definition at line 365 of file FirmwarePlugin.h.

initializeVehicle()

virtual void FirmwarePlugin::initializeVehicle ( Vehicle *  )

inlinevirtual

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

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 124 of file FirmwarePlugin.h.

Referenced by Vehicle::Vehicle(), and Vehicle::Vehicle().

isCapable()

virtual bool FirmwarePlugin::isCapable ( const Vehicle *  , FirmwareCapabilities    ) const

inlinevirtual

Returns

true: Firmware supports all specified capabilites

Reimplemented in APMFirmwarePlugin, ArduSubFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 127 of file FirmwarePlugin.h.

Referenced by VehicleSupports::changeHeading(), Vehicle::flightModeSetAvailable(), VehicleSupports::guidedMode(), VehicleSupports::guidedTakeoffWithAltitude(), VehicleSupports::guidedTakeoffWithoutAltitude(), VehicleSupports::orbitMode(), VehicleSupports::pauseVehicle(), VehicleSupports::roiMode(), and VehicleSupports::takeoffMissionCommand().

isGuidedMode()

virtual bool FirmwarePlugin::isGuidedMode ( const Vehicle *  ) const

inlinevirtual

Returns whether the vehicle is in guided mode or not.

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 176 of file FirmwarePlugin.h.

Referenced by Vehicle::guidedMode().

landFlightMode()

virtual QString FirmwarePlugin::landFlightMode ( void  ) const

inlinevirtual

Returns the flight mode for Land.

Reimplemented in ArduCopterFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 161 of file FirmwarePlugin.h.

Referenced by Vehicle::landFlightMode().

loadParameterMetaData()

ParameterMetaData * FirmwarePlugin::loadParameterMetaData

(

const Vehicle *

vehicle

)

Definition at line 478 of file FirmwarePlugin.cc.

References _cachedParameterMetaDataFile(), _createParameterMetaData(), and ParameterMetaData::loadParameterFactMetaDataFile().

MAV_CMD_DO_SET_MODE_is_supported()

virtual bool FirmwarePlugin::MAV_CMD_DO_SET_MODE_is_supported ( ) const

inlinevirtual

returns true if this flight stack supports MAV_CMD_DO_SET_MODE

Reimplemented in APMFirmwarePlugin.

Definition at line 144 of file FirmwarePlugin.h.

Referenced by Vehicle::setFlightMode().

maximumEquivalentAirspeed()

virtual double FirmwarePlugin::maximumEquivalentAirspeed ( Vehicle *  ) const

inlinevirtual

Returns

The maximum equivalent airspeed setpoint.

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 210 of file FirmwarePlugin.h.

Referenced by Vehicle::maximumEquivalentAirspeed(), APMFirmwarePlugin::maximumEquivalentAirspeed(), and PX4FirmwarePlugin::maximumEquivalentAirspeed().

maximumHorizontalSpeedMultirotorMetersSecond()

virtual double FirmwarePlugin::maximumHorizontalSpeedMultirotorMetersSecond ( Vehicle *  ) const

inlinevirtual

Returns

The maximum horizontal groundspeed for a multirotor.

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 207 of file FirmwarePlugin.h.

Referenced by Vehicle::maximumHorizontalSpeedMultirotorMetersSecond(), APMFirmwarePlugin::maximumHorizontalSpeedMultirotorMetersSecond(), and PX4FirmwarePlugin::maximumHorizontalSpeedMultirotorMetersSecond().

minimumEquivalentAirspeed()

virtual double FirmwarePlugin::minimumEquivalentAirspeed ( Vehicle *  ) const

inlinevirtual

Returns

The minimum equivalent airspeed setpoint

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 213 of file FirmwarePlugin.h.

Referenced by Vehicle::minimumEquivalentAirspeed(), APMFirmwarePlugin::minimumEquivalentAirspeed(), and PX4FirmwarePlugin::minimumEquivalentAirspeed().

minimumTakeoffAltitudeMeters()

virtual double FirmwarePlugin::minimumTakeoffAltitudeMeters ( Vehicle *  ) const

inlinevirtual

Returns

The minimum takeoff altitude (relative) for guided takeoff.

Reimplemented in APMFirmwarePlugin.

Definition at line 204 of file FirmwarePlugin.h.

Referenced by Vehicle::minimumTakeoffAltitudeMeters(), and APMFirmwarePlugin::minimumTakeoffAltitudeMeters().

missionCommandOverrides()

QString FirmwarePlugin::missionCommandOverrides ( QGCMAVLinkTypes::VehicleClass_t  vehicleClass ) const

virtual

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 in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 94 of file FirmwarePlugin.cc.

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

Referenced by MissionCommandTree::MissionCommandTree().

missionFlightMode()

virtual QString FirmwarePlugin::missionFlightMode ( void  ) const

inlinevirtual

Returns the flight mode for running missions.

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 150 of file FirmwarePlugin.h.

Referenced by Vehicle::missionFlightMode().

motorDetectionFlightMode()

virtual QString FirmwarePlugin::motorDetectionFlightMode ( ) const

inlinevirtual

Returns the flight mode for Motor Detection.

Reimplemented in ArduSubFirmwarePlugin.

Definition at line 167 of file FirmwarePlugin.h.

Referenced by Vehicle::motorDetectionFlightMode().

mulirotorSpeedLimitsAvailable()

virtual bool FirmwarePlugin::mulirotorSpeedLimitsAvailable ( Vehicle *  ) const

inlinevirtual

Returns

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

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 219 of file FirmwarePlugin.h.

multiRotorCoaxialMotors()

virtual bool FirmwarePlugin::multiRotorCoaxialMotors ( Vehicle *  ) const

inlinevirtual

Returns

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

Reimplemented in ArduCopterFirmwarePlugin.

Definition at line 318 of file FirmwarePlugin.h.

Referenced by Vehicle::coaxialMotors().

multiRotorXConfig()

virtual bool FirmwarePlugin::multiRotorXConfig ( Vehicle *  ) const

inlinevirtual

Returns

true: X confiuration, false: Plus configuration

Reimplemented in ArduCopterFirmwarePlugin.

Definition at line 321 of file FirmwarePlugin.h.

Referenced by Vehicle::xConfigMotors().

offlineEditingParamFile()

virtual QString FirmwarePlugin::offlineEditingParamFile ( Vehicle *  ) const

inlinevirtual

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

Reimplemented in ArduCopterFirmwarePlugin, ArduPlaneFirmwarePlugin, ArduRoverFirmwarePlugin, ArduSubFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 324 of file FirmwarePlugin.h.

Referenced by APMFirmwarePlugin::initializeVehicle().

paramNameRemapMajorVersionMap()

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

virtual

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 in ArduCopterFirmwarePlugin, ArduPlaneFirmwarePlugin, ArduRoverFirmwarePlugin, and ArduSubFirmwarePlugin.

Definition at line 190 of file FirmwarePlugin.cc.

pauseFlightMode()

virtual QString FirmwarePlugin::pauseFlightMode ( void  ) const

inlinevirtual

Returns The flight mode which indicates the vehicle is paused.

Reimplemented in ArduCopterFirmwarePlugin, ArduPlaneFirmwarePlugin, ArduRoverFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 147 of file FirmwarePlugin.h.

Referenced by APMFirmwarePlugin::guidedModeChangeAltitude(), Vehicle::pauseFlightMode(), and APMFirmwarePlugin::pauseVehicle().

pauseVehicle()

void FirmwarePlugin::pauseVehicle ( Vehicle *  vehicle ) const

virtual

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 in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 122 of file FirmwarePlugin.cc.

References guided_mode_not_supported_by_vehicle, and QGC::showAppMessage().

Referenced by guidedModeChangeAltitude(), and Vehicle::pauseVehicle().

remapParamNameHigestMinorVersionNumber()

virtual int FirmwarePlugin::remapParamNameHigestMinorVersionNumber ( int  ) const

inlinevirtual

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 in ArduCopterFirmwarePlugin, ArduPlaneFirmwarePlugin, ArduRoverFirmwarePlugin, and ArduSubFirmwarePlugin.

Definition at line 315 of file FirmwarePlugin.h.

References VehicleTypes::versionNotSetValue.

rtlFlightMode()

virtual QString FirmwarePlugin::rtlFlightMode ( void  ) const

inlinevirtual

Returns the flight mode for RTL.

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 153 of file FirmwarePlugin.h.

Referenced by Vehicle::rtlFlightMode().

sendGCSMotionReport()

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

virtual

Sends the appropriate mavlink message for follow me support.

Reimplemented in APMFirmwarePlugin.

Definition at line 401 of file FirmwarePlugin.cc.

References FollowMe::GCSMotionReport::altMetersAMSL, MAVLinkProtocol::getComponentId(), MAVLinkProtocol::instance(), FollowMe::GCSMotionReport::lat_int, FollowMe::GCSMotionReport::lon_int, FollowMe::GCSMotionReport::pos_std_dev, VehicleLinkManager::primaryLink(), qgcApp, Vehicle::sendMessageOnLinkThreadSafe(), Vehicle::vehicleLinkManager(), FollowMe::GCSMotionReport::vxMetersPerSec, and FollowMe::GCSMotionReport::vyMetersPerSec.

sendHomePositionToVehicle()

virtual bool FirmwarePlugin::sendHomePositionToVehicle ( void  ) const

inlinevirtual

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 in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 299 of file FirmwarePlugin.h.

Referenced by PlanManager::_handleMissionItem(), MissionController::currentMissionIndex(), MissionManager::generateResumeMission(), MissionController::resumeMission(), MissionController::resumeMissionIndex(), Vehicle::setCurrentMissionSequence(), and PlanManager::writeMissionItems().

setFlightMode()

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

virtual

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 in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 83 of file FirmwarePlugin.cc.

References flightMode().

Referenced by MAVLinkEventManager::setMetadata().

setGuidedMode()

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

virtual

Set guided flight mode.

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 115 of file FirmwarePlugin.cc.

References guided_mode_not_supported_by_vehicle, and QGC::showAppMessage().

Referenced by Vehicle::setGuidedMode().

smartRTLFlightMode()

virtual QString FirmwarePlugin::smartRTLFlightMode ( ) const

inlinevirtual

Returns the flight mode for Smart RTL.

Reimplemented in APMFirmwarePlugin.

Definition at line 156 of file FirmwarePlugin.h.

Referenced by Vehicle::smartRTLFlightMode().

stabilizedFlightMode()

virtual QString FirmwarePlugin::stabilizedFlightMode ( void  ) const

inlinevirtual

Returns the flight mode for Stabilized.

Reimplemented in ArduCopterFirmwarePlugin, ArduPlaneFirmwarePlugin, ArduRoverFirmwarePlugin, ArduSubFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 170 of file FirmwarePlugin.h.

Referenced by Vehicle::stabilizedFlightMode().

startMission()

void FirmwarePlugin::startMission ( Vehicle *  vehicle ) const

virtual

Command the vehicle to start the mission.

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 185 of file FirmwarePlugin.cc.

References guided_mode_not_supported_by_vehicle, and QGC::showAppMessage().

Referenced by Vehicle::startMission().

startTakeoff()

void FirmwarePlugin::startTakeoff ( Vehicle *  vehicle ) const

virtual

Command the vehicle to start a takeoff.

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 179 of file FirmwarePlugin.cc.

References guided_mode_not_supported_by_vehicle, and QGC::showAppMessage().

Referenced by Vehicle::startTakeoff().

supportedMissionCommands()

virtual QList< MAV_CMD > FirmwarePlugin::supportedMissionCommands ( QGCMAVLinkTypes::VehicleClass_t  ) const

inlinevirtual

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

Reimplemented in APMFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 302 of file FirmwarePlugin.h.

Referenced by CameraSection::cameraModeSupported(), MissionCommandTree::getCommandsForCategory(), MissionController::insertCancelROIMissionItem(), and MissionController::insertROIMissionItem().

supportsJSButton()

virtual bool FirmwarePlugin::supportsJSButton ( ) const

inlinevirtual

Returns true if the firmware supports the AP_JSButton library, which allows joystick buttons to be assigned via parameters in firmware. Default is false.

Reimplemented in ArduSubFirmwarePlugin.

Definition at line 266 of file FirmwarePlugin.h.

Referenced by VehicleSupports::jsButton().

supportsMotorInterference()

virtual bool FirmwarePlugin::supportsMotorInterference ( ) const

inlinevirtual

Returns true if the firmware supports calibrating motor interference offsets for the compass (CompassMot). Default is true.

Reimplemented in ArduSubFirmwarePlugin.

Definition at line 270 of file FirmwarePlugin.h.

Referenced by VehicleSupports::motorInterference().

supportsNegativeThrust()

virtual bool FirmwarePlugin::supportsNegativeThrust ( Vehicle *  ) const

inlinevirtual

Returns true if the vehicle and firmware supports the use of negative thrust Typically supported rover.

Reimplemented in ArduRoverFirmwarePlugin, ArduSubFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 258 of file FirmwarePlugin.h.

Referenced by VehicleSupports::negativeThrust().

supportsRadio()

virtual bool FirmwarePlugin::supportsRadio ( ) const

inlinevirtual

Returns true if the firmware supports the use of the RC radio and requires the RC radio setup page. Returns true by default.

Reimplemented in ArduSubFirmwarePlugin.

Definition at line 262 of file FirmwarePlugin.h.

Referenced by VehicleSupports::radio().

supportsSmartRTL()

virtual bool FirmwarePlugin::supportsSmartRTL ( ) const

inlinevirtual

Reimplemented in ArduCopterFirmwarePlugin, and ArduRoverFirmwarePlugin.

Definition at line 158 of file FirmwarePlugin.h.

Referenced by VehicleSupports::smartRTL().

supportsThrottleModeCenterZero()

virtual bool FirmwarePlugin::supportsThrottleModeCenterZero ( ) const

inlinevirtual

Returns true if the vehicle and firmware supports the use of a throttle joystick that is zero when centered. Typically not supported on vehicles that have bidirectional throttle.

Reimplemented in ArduSubFirmwarePlugin.

Definition at line 254 of file FirmwarePlugin.h.

Referenced by VehicleSupports::throttleModeCenterZero().

takeControlFlightMode()

virtual QString FirmwarePlugin::takeControlFlightMode ( void  ) const

inlinevirtual

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

Reimplemented in ArduCopterFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 173 of file FirmwarePlugin.h.

Referenced by Vehicle::takeControlFlightMode().

takeOffFlightMode()

virtual QString FirmwarePlugin::takeOffFlightMode ( void  ) const

inlinevirtual

Returns the flight mode for TakeOff.

Reimplemented in ArduCopterFirmwarePlugin, ArduPlaneFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 164 of file FirmwarePlugin.h.

Referenced by MAVLinkEventManager::setMetadata(), and APMFirmwarePlugin::startTakeoff().

toolIndicators()

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

virtual

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

Returns

A list of QUrl with the indicators

Reimplemented in APMFirmwarePlugin.

Definition at line 197 of file FirmwarePlugin.cc.

References _toolIndicatorList.

Referenced by Vehicle::toolIndicators(), and APMFirmwarePlugin::toolIndicators().

toolIndicatorsChanged

void FirmwarePlugin::toolIndicatorsChanged ( )

signal

updateAvailableFlightModes()

virtual void FirmwarePlugin::updateAvailableFlightModes ( FlightModeList &  flightModeList )

inlinevirtual

Update Available flight modes recieved from vehicle.

Reimplemented in ArduCopterFirmwarePlugin, ArduPlaneFirmwarePlugin, ArduRoverFirmwarePlugin, ArduSubFirmwarePlugin, and PX4FirmwarePlugin.

Definition at line 390 of file FirmwarePlugin.h.

References _updateFlightModeList().

Referenced by StandardModes::gotMessage().

vehicleImageOpaque()

virtual QString FirmwarePlugin::vehicleImageOpaque ( const Vehicle *  ) const

inlinevirtual

Return the resource file which contains the vehicle icon used in the flight view when the view is dark (Satellite for instance)

Reimplemented in ArduSubFirmwarePlugin.

Definition at line 327 of file FirmwarePlugin.h.

Referenced by Vehicle::vehicleImageOpaque().

vehicleImageOutline()

virtual QString FirmwarePlugin::vehicleImageOutline ( const Vehicle *  ) const

inlinevirtual

Return the resource file which contains the vehicle icon used in the flight view when the view is light (Map for instance)

Reimplemented in ArduSubFirmwarePlugin.

Definition at line 330 of file FirmwarePlugin.h.

Referenced by Vehicle::vehicleImageOutline().

versionCompare() [1/2]

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

Used to check if running current version is equal or higher than the one being compared. returns 1 if current > compare, 0 if current == compare, -1 if current < compare

Definition at line 386 of file FirmwarePlugin.cc.

References versionCompare().

Referenced by Vehicle::versionCompare(), versionCompare(), and Vehicle::versionCompare().

versionCompare() [2/2]

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

Definition at line 366 of file FirmwarePlugin.cc.

References Vehicle::firmwareMajorVersion(), Vehicle::firmwareMinorVersion(), and Vehicle::firmwarePatchVersion().

Member Data Documentation

_flightModeList

FlightModeList FirmwarePlugin::_flightModeList

protected

Definition at line 431 of file FirmwarePlugin.h.

Referenced by _addNewFlightMode(), _updateFlightModeList(), APMFirmwarePlugin::flightModes(), PX4FirmwarePlugin::flightModes(), APMFirmwarePlugin::setFlightMode(), and PX4FirmwarePlugin::setFlightMode().

_modeEnumToString

FlightModeCustomModeMap FirmwarePlugin::_modeEnumToString

protected

Definition at line 432 of file FirmwarePlugin.h.

Referenced by _setModeEnumToModeStringMapping(), _updateFlightModeList(), flightMode(), APMFirmwarePlugin::flightMode(), PX4FirmwarePlugin::flightMode(), ArduCopterFirmwarePlugin::followFlightMode(), ArduRoverFirmwarePlugin::followFlightMode(), PX4FirmwarePlugin::followFlightMode(), PX4FirmwarePlugin::gotoFlightMode(), APMFirmwarePlugin::guidedFlightMode(), ArduCopterFirmwarePlugin::landFlightMode(), PX4FirmwarePlugin::landFlightMode(), APMFirmwarePlugin::missionFlightMode(), PX4FirmwarePlugin::missionFlightMode(), ArduSubFirmwarePlugin::motorDetectionFlightMode(), ArduCopterFirmwarePlugin::pauseFlightMode(), ArduPlaneFirmwarePlugin::pauseFlightMode(), ArduRoverFirmwarePlugin::pauseFlightMode(), PX4FirmwarePlugin::pauseFlightMode(), APMFirmwarePlugin::rtlFlightMode(), PX4FirmwarePlugin::rtlFlightMode(), APMFirmwarePlugin::smartRTLFlightMode(), ArduCopterFirmwarePlugin::stabilizedFlightMode(), ArduPlaneFirmwarePlugin::stabilizedFlightMode(), ArduRoverFirmwarePlugin::stabilizedFlightMode(), ArduSubFirmwarePlugin::stabilizedFlightMode(), PX4FirmwarePlugin::stabilizedFlightMode(), ArduCopterFirmwarePlugin::takeControlFlightMode(), PX4FirmwarePlugin::takeControlFlightMode(), ArduPlaneFirmwarePlugin::takeOffFlightMode(), and PX4FirmwarePlugin::takeOffFlightMode().

_modeIndicatorList

QVariantList FirmwarePlugin::_modeIndicatorList

protected

Definition at line 435 of file FirmwarePlugin.h.

_toolIndicatorList

QVariantList FirmwarePlugin::_toolIndicatorList

protected

Definition at line 434 of file FirmwarePlugin.h.

Referenced by toolIndicators().

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

• src/FirmwarePlugin/FirmwarePlugin.h
• src/FirmwarePlugin/FirmwarePlugin.cc