MAVLinkProtocol Class Reference

#include <MAVLinkProtocol.h>

Inheritance diagram for MAVLinkProtocol:

Collaboration diagram for MAVLinkProtocol:

Public Slots
void	receiveBytes (LinkInterface *link, const QByteArray &data)
void	logSentBytes (const LinkInterface *link, const QByteArray &data)
static void	deleteTempLogFiles ()
	Deletes any log files which are in the temp directory.

Signals
void	vehicleHeartbeatInfo (LinkInterface *link, int vehicleId, int componentId, int vehicleFirmwareType, int vehicleType)
	Heartbeat received on link.
void	messageReceived (LinkInterface *link, const mavlink_message_t &message)
	Message received and directly copied via signal.
void	mavlinkMessageStatus (int sysid, uint64_t totalSent, uint64_t totalReceived, uint64_t totalLoss, float lossPercent)

Public Member Functions
	MAVLinkProtocol (QObject *parent=nullptr)
	~MAVLinkProtocol ()
	Destructor for the MAVLinkProtocol class.
void	init ()
int	getSystemId () const
	Get the system id of this application.
void	resetMetadataForLink (LinkInterface *link)
	Reset the counters for all metadata for this link.
void	suspendLogForReplay (bool suspend)
	Suspend/Restart logging during replay.
void	checkForLostLogFiles ()

Static Public Member Functions
static MAVLinkProtocol *	instance ()
static QString	getName ()
	Get the human-friendly name of this protocol.
static int	getComponentId ()
	Get the component id of this application.

Detailed Description

MAVLink micro air vehicle protocol reference implementation. MAVLink is a generic communication protocol for micro air vehicles. for more information, please see the official website: https://mavlink.io

Definition at line 18 of file MAVLinkProtocol.h.

Constructor & Destructor Documentation

MAVLinkProtocol()

MAVLinkProtocol::MAVLinkProtocol ( QObject *  parent = nullptr )

explicit

Constructs an MAVLinkProtocol object.

Parameters

parent

The parent QObject.

Definition at line 25 of file MAVLinkProtocol.cc.

~MAVLinkProtocol()

MAVLinkProtocol::~MAVLinkProtocol

(

)

Destructor for the MAVLinkProtocol class.

Definition at line 32 of file MAVLinkProtocol.cc.

Member Function Documentation

checkForLostLogFiles()

void MAVLinkProtocol::checkForLostLogFiles

(

)

Checks the temp directory for log files which may have been left there. This could happen if QGC crashes without the temp log file being saved. Give the user an option to save these orphaned files.

Definition at line 347 of file MAVLinkProtocol.cc.

deleteTempLogFiles

void MAVLinkProtocol::deleteTempLogFiles ( )

staticslot

Deletes any log files which are in the temp directory.

Definition at line 366 of file MAVLinkProtocol.cc.

getComponentId()

static int MAVLinkProtocol::getComponentId ( )

inlinestatic

Get the component id of this application.

Definition at line 43 of file MAVLinkProtocol.h.

Referenced by PlanManager::_handleMissionRequest(), PlanManager::_readTransactionComplete(), PlanManager::_removeAllWorker(), VehicleCameraControl::_requestAllParameters(), PlanManager::_requestList(), PlanManager::_requestNextMissionItem(), Vehicle::_sendMavCommandFromList(), PlanManager::_writeMissionCount(), Vehicle::clearAllParamMapRC(), LogDownloadController::eraseAll(), APMFirmwarePlugin::guidedModeChangeAltitude(), QGCCameraParamIO::paramRequest(), ParameterManager::refreshAllParameters(), Vehicle::requestDataStream(), APMFirmwarePlugin::sendGCSMotionReport(), FirmwarePlugin::sendGCSMotionReport(), Vehicle::sendJoystickDataThreadSafe(), Vehicle::sendParamMapRC(), Vehicle::sendSetupSigning(), Vehicle::setCurrentMissionSequence(), Vehicle::setEstimatorOrigin(), Vehicle::setFlightMode(), Vehicle::startCalibration(), and MissionManager::writeArduPilotGuidedMissionItem().

getName()

static QString MAVLinkProtocol::getName ( )

inlinestatic

Get the human-friendly name of this protocol.

Definition at line 37 of file MAVLinkProtocol.h.

Referenced by logSentBytes().

getSystemId()

int MAVLinkProtocol::getSystemId

(

)

const

Get the system id of this application.

Definition at line 483 of file MAVLinkProtocol.cc.

References MavlinkSettings::gcsMavlinkSystemID().

Referenced by LogDownloadController::eraseAll(), QGCCameraParamIO::paramRequest(), APMFirmwarePlugin::sendGCSMotionReport(), and Vehicle::sendSetupSigning().

init()

void MAVLinkProtocol::init

(

)

Definition at line 44 of file MAVLinkProtocol.cc.

References MultiVehicleManager::vehicleRemoved().

instance()

MAVLinkProtocol * MAVLinkProtocol::instance ( )

static

Gets the singleton instance of MAVLinkProtocol.

Returns

The singleton instance.

Definition at line 39 of file MAVLinkProtocol.cc.

Referenced by PlanManager::_handleMissionRequest(), PlanManager::_readTransactionComplete(), PlanManager::_removeAllWorker(), VehicleCameraControl::_requestAllParameters(), PlanManager::_requestList(), PlanManager::_requestNextMissionItem(), Vehicle::_sendMavCommandFromList(), PlanManager::_writeMissionCount(), Vehicle::clearAllParamMapRC(), LogDownloadController::eraseAll(), APMFirmwarePlugin::guidedModeChangeAltitude(), MAVLinkInspectorController::MAVLinkInspectorController(), QGCCameraParamIO::paramRequest(), LogReplayWorker::pause(), LogReplayWorker::play(), ParameterManager::refreshAllParameters(), Vehicle::requestDataStream(), APMFirmwarePlugin::sendGCSMotionReport(), FirmwarePlugin::sendGCSMotionReport(), Vehicle::sendJoystickDataThreadSafe(), Vehicle::sendParamMapRC(), Vehicle::sendSetupSigning(), Vehicle::setCurrentMissionSequence(), Vehicle::setEstimatorOrigin(), Vehicle::setFlightMode(), Vehicle::startCalibration(), Vehicle::startTimerRevertAllowTakeover(), Vehicle::Vehicle(), and MissionManager::writeArduPilotGuidedMissionItem().

logSentBytes

void MAVLinkProtocol::logSentBytes ( const LinkInterface *  link, const QByteArray &  data  )

slot

Log bytes sent from a communication interface and logs a MAVLink packet. It can handle multiple links in parallel, as each link has it's own buffer/parsing state machine.

Parameters

link	The interface to read from

Definition at line 65 of file MAVLinkProtocol.cc.

References getName(), and qgcApp.

mavlinkMessageStatus

void MAVLinkProtocol::mavlinkMessageStatus ( int  sysid, uint64_t  totalSent, uint64_t  totalReceived, uint64_t  totalLoss, float  lossPercent  )

signal

Referenced by Vehicle::Vehicle().

messageReceived

void MAVLinkProtocol::messageReceived ( LinkInterface *  link, const mavlink_message_t &  message  )

signal

Message received and directly copied via signal.

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

receiveBytes

void MAVLinkProtocol::receiveBytes ( LinkInterface *  link, const QByteArray &  data  )

slot

Receive bytes from a communication interface and constructs a MAVLink packet

Parameters

link	The interface to read from

Definition at line 88 of file MAVLinkProtocol.cc.

References LinkInterface::mavlinkChannel(), and LinkInterface::reportMavlinkV1Traffic().

resetMetadataForLink()

void MAVLinkProtocol::resetMetadataForLink

(

LinkInterface *

link

)

Reset the counters for all metadata for this link.

Definition at line 55 of file MAVLinkProtocol.cc.

References LinkInterface::mavlinkChannel(), and LinkInterface::setDecodedFirstMavlinkPacket().

suspendLogForReplay()

void MAVLinkProtocol::suspendLogForReplay ( bool  suspend )

inline

Suspend/Restart logging during replay.

Definition at line 49 of file MAVLinkProtocol.h.

Referenced by LogReplayWorker::pause(), and LogReplayWorker::play().

vehicleHeartbeatInfo

void MAVLinkProtocol::vehicleHeartbeatInfo ( LinkInterface *  link, int  vehicleId, int  componentId, int  vehicleFirmwareType, int  vehicleType  )

signal

Heartbeat received on link.

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

• src/Comms/MAVLinkProtocol.h
• src/Comms/MAVLinkProtocol.cc