QGroundControl
Ground Control Station for MAVLink Drones
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Classes | Public Slots | Signals | Public Member Functions | List of all members
GimbalController Class Reference

#include <GimbalController.h>

+ Inheritance diagram for GimbalController:
+ Collaboration diagram for GimbalController:

Public Slots

void gimbalYawLock (bool yawLock)
 
Q_INVOKABLE void centerGimbal ()
 
void gimbalPitchStart (int direction)
 
void gimbalYawStart (int direction)
 
void gimbalPitchStop ()
 
void gimbalYawStop ()
 

Signals

void activeGimbalChanged ()
 
void showAcquireGimbalControlPopup ()
 

Public Member Functions

 GimbalController (Vehicle *vehicle)
 
 ~GimbalController ()
 
Gimbal * activeGimbal () const
 
QmlObjectListModel * gimbals () const
 
void setActiveGimbal (Gimbal *gimbal)
 
void sendPitchYawFlags (uint32_t flags)
 
Q_INVOKABLE void gimbalOnScreenControl (float panpct, float tiltpct, bool clickAndPoint, bool clickAndDrag, bool rateControl, bool retract=false, bool neutral=false, bool yawlock=false)
 
Q_INVOKABLE void sendPitchBodyYaw (float pitch, float yaw, bool showError=true)
 
Q_INVOKABLE void sendPitchAbsoluteYaw (float pitch, float yaw, bool showError=true)
 
Q_INVOKABLE void setGimbalRetract (bool set)
 
Q_INVOKABLE void setGimbalYawLock (bool set)
 
Q_INVOKABLE void acquireGimbalControl ()
 
Q_INVOKABLE void releaseGimbalControl ()
 
Q_INVOKABLE void sendRate ()
 
Q_INVOKABLE void sendGimbalRate (float pitch_rate_deg_s, float yaw_rate_deg_s)
 

Detailed Description

Definition at line 12 of file GimbalController.h.

Constructor & Destructor Documentation

◆ GimbalController()

GimbalController::GimbalController ( Vehicle *  vehicle)

Definition at line 17 of file GimbalController.cc.

References Vehicle::initialConnectComplete(), and Vehicle::mavlinkMessageReceived().

◆ ~GimbalController()

GimbalController::~GimbalController ( )

Definition at line 31 of file GimbalController.cc.

Member Function Documentation

◆ acquireGimbalControl()

void GimbalController::acquireGimbalControl ( )

Definition at line 673 of file GimbalController.cc.

References Gimbal::deviceId(), MAVLinkProtocol::getComponentId(), MAVLinkProtocol::getSystemId(), MAVLinkProtocol::instance(), Gimbal::managerCompid(), Fact::rawValue(), and Vehicle::sendMavCommand().

◆ activeGimbal()

Gimbal * GimbalController::activeGimbal ( ) const
inline

Definition at line 26 of file GimbalController.h.

Referenced by gimbalPitchStart(), gimbalPitchStop(), gimbalYawStart(), and gimbalYawStop().

◆ activeGimbalChanged

void GimbalController::activeGimbalChanged ( )
signal

Referenced by setActiveGimbal().

◆ centerGimbal

void GimbalController::centerGimbal ( )
slot

Definition at line 424 of file GimbalController.cc.

References sendPitchBodyYaw().

◆ gimbalOnScreenControl()

void GimbalController::gimbalOnScreenControl ( float  panpct,
float  tiltpct,
bool  clickAndPoint,
bool  clickAndDrag,
bool  rateControl,
bool  retract = false,
bool  neutral = false,
bool  yawlock = false 
)

Definition at line 433 of file GimbalController.cc.

References Gimbal::absolutePitch(), Gimbal::bodyYaw(), SettingsManager::gimbalControllerSettings(), VehicleFactGroup::heading(), SettingsManager::instance(), Fact::rawValue(), sendPitchAbsoluteYaw(), sendPitchBodyYaw(), and Gimbal::yawLock().

◆ gimbalPitchStart

void GimbalController::gimbalPitchStart ( int  direction)
slot

Definition at line 377 of file GimbalController.cc.

References activeGimbal(), SettingsManager::gimbalControllerSettings(), SettingsManager::instance(), sendRate(), and Gimbal::setPitchRate().

◆ gimbalPitchStop

void GimbalController::gimbalPitchStop ( )
slot

Definition at line 402 of file GimbalController.cc.

References activeGimbal(), sendRate(), and Gimbal::setPitchRate().

◆ gimbals()

QmlObjectListModel * GimbalController::gimbals ( ) const
inline

Definition at line 27 of file GimbalController.h.

◆ gimbalYawLock

void GimbalController::gimbalYawLock ( bool  yawLock)
inlineslot

Definition at line 52 of file GimbalController.h.

References setGimbalYawLock().

◆ gimbalYawStart

void GimbalController::gimbalYawStart ( int  direction)
slot

Definition at line 390 of file GimbalController.cc.

References activeGimbal(), SettingsManager::gimbalControllerSettings(), SettingsManager::instance(), sendRate(), and Gimbal::setYawRate().

◆ gimbalYawStop

void GimbalController::gimbalYawStop ( )
slot

Definition at line 413 of file GimbalController.cc.

References activeGimbal(), sendRate(), and Gimbal::setYawRate().

◆ releaseGimbalControl()

void GimbalController::releaseGimbalControl ( )

Definition at line 693 of file GimbalController.cc.

References Gimbal::deviceId(), Gimbal::managerCompid(), Fact::rawValue(), and Vehicle::sendMavCommand().

◆ sendGimbalRate()

void GimbalController::sendGimbalRate ( float  pitch_rate_deg_s,
float  yaw_rate_deg_s 
)

Send gimbal attitude rates directly without using active gimbal's rate properties

Parameters
pitch_rate_deg_sPitch rate in degrees per second
yaw_rate_deg_sYaw rate in degrees per second

Definition at line 579 of file GimbalController.cc.

◆ sendPitchAbsoluteYaw()

void GimbalController::sendPitchAbsoluteYaw ( float  pitch,
float  yaw,
bool  showError = true 
)

Definition at line 506 of file GimbalController.cc.

References Gimbal::deviceId(), Gimbal::managerCompid(), Fact::rawValue(), Vehicle::sendMavCommand(), Gimbal::setAbsolutePitch(), and Gimbal::setYawRate().

Referenced by gimbalOnScreenControl().

◆ sendPitchBodyYaw()

void GimbalController::sendPitchBodyYaw ( float  pitch,
float  yaw,
bool  showError = true 
)

Definition at line 477 of file GimbalController.cc.

References Gimbal::deviceId(), Gimbal::managerCompid(), Fact::rawValue(), Vehicle::sendMavCommand(), Gimbal::setAbsolutePitch(), and Gimbal::setYawRate().

Referenced by centerGimbal(), and gimbalOnScreenControl().

◆ sendPitchYawFlags()

void GimbalController::sendPitchYawFlags ( uint32_t  flags)

Definition at line 656 of file GimbalController.cc.

References Gimbal::absolutePitch(), Gimbal::absoluteYaw(), Gimbal::bodyYaw(), Gimbal::deviceId(), Gimbal::managerCompid(), Fact::rawValue(), and Vehicle::sendMavCommand().

Referenced by setGimbalRetract(), and setGimbalYawLock().

◆ sendRate()

void GimbalController::sendRate ( )

Definition at line 560 of file GimbalController.cc.

References Gimbal::pitchRate(), and Gimbal::yawRate().

Referenced by gimbalPitchStart(), gimbalPitchStop(), gimbalYawStart(), and gimbalYawStop().

◆ setActiveGimbal()

void GimbalController::setActiveGimbal ( Gimbal *  gimbal)

Definition at line 41 of file GimbalController.cc.

References activeGimbalChanged().

◆ setGimbalRetract()

void GimbalController::setGimbalRetract ( bool  set)

Definition at line 544 of file GimbalController.cc.

References sendPitchYawFlags().

◆ setGimbalYawLock()

void GimbalController::setGimbalYawLock ( bool  set)

Definition at line 641 of file GimbalController.cc.

References sendPitchYawFlags().

Referenced by gimbalYawLock().

◆ showAcquireGimbalControlPopup

void GimbalController::showAcquireGimbalControlPopup ( )
signal
The documentation for this class was generated from the following files: