#include <PX4FirmwarePlugin.h>

Inheritance diagram for PX4FirmwarePlugin:

Collaboration diagram for PX4FirmwarePlugin:

Public Member Functions
	PX4FirmwarePlugin ()

virtual	~PX4FirmwarePlugin ()

void	_changeAltAfterPause (void *resultHandlerData, bool pauseSucceeded)

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

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

void	setGuidedMode (Vehicle *vehicle, bool guidedMode) const override
	Set guided flight mode.

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

QString	missionFlightMode (void) const override
	Returns the flight mode for running missions.

QString	rtlFlightMode (void) const override
	Returns the flight mode for RTL.

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

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

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

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

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

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

void	pauseVehicle (Vehicle *vehicle) const override

void	guidedModeRTL (Vehicle *vehicle, bool smartRTL) const override
	Command vehicle to return to launch.

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

void	guidedModeTakeoff (Vehicle *vehicle, double takeoffAltRel) const override
	Command vehicle to takeoff from current location to the specified height.

double	maximumHorizontalSpeedMultirotor (Vehicle *vehicle) const override

double	maximumEquivalentAirspeed (Vehicle *vehicle) const override

double	minimumEquivalentAirspeed (Vehicle *vehicle) const override

bool	mulirotorSpeedLimitsAvailable (Vehicle *vehicle) const override

bool	fixedWingAirSpeedLimitsAvailable (Vehicle *vehicle) const override

void	guidedModeGotoLocation (Vehicle *vehicle, const QGeoCoordinate &gotoCoord, double forwardFlightLoiterRadius) const override
	Command vehicle to move to specified location (altitude is included and relative)

void	guidedModeChangeAltitude (Vehicle *vehicle, double altitudeRel, bool pauseVehicle) override

void	guidedModeChangeGroundSpeedMetersSecond (Vehicle *vehicle, double groundspeed) const override

void	guidedModeChangeEquivalentAirspeedMetersSecond (Vehicle *vehicle, double airspeed_equiv) const override

void	guidedModeChangeHeading (Vehicle *vehicle, const QGeoCoordinate &headingCoord) const override
	Command vehicle to rotate towards specified location.

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.

bool	isGuidedMode (const Vehicle *vehicle) const override
	Returns whether the vehicle is in guided mode or not.

void	initializeVehicle (Vehicle *vehicle) override
	Called when Vehicle is first created to perform any firmware specific setup.

bool	sendHomePositionToVehicle (void) const override

QString	missionCommandOverrides (QGCMAVLink::VehicleClass_t vehicleClass) const override

FactMetaData *	_getMetaDataForFact (QObject *parameterMetaData, const QString &name, FactMetaData::ValueType_t type, MAV_TYPE vehicleType) const override

QString	_internalParameterMetaDataFile (const Vehicle *vehicle) const override

void	_getParameterMetaDataVersionInfo (const QString &metaDataFile, int &majorVersion, int &minorVersion) const override

QObject *	_loadParameterMetaData (const QString &metaDataFile) final

bool	adjustIncomingMavlinkMessage (Vehicle vehicle, mavlink_message_t message) override

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

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	autoDisarmParameter (Vehicle *vehicle) const override

uint32_t	highLatencyCustomModeTo32Bits (uint16_t hlCustomMode) const override
	Convert from HIGH_LATENCY2.custom_mode value to correct 32 bit value.

bool	supportsNegativeThrust (Vehicle *vehicle) const 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

QVariant	expandedToolbarIndicatorSource (const Vehicle *vehicle, const QString &indicatorName) const override

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

Public Member Functions inherited from FirmwarePlugin
	FirmwarePlugin (QObject *parent=nullptr)

virtual	~FirmwarePlugin ()

virtual bool	MAV_CMD_DO_SET_MODE_is_supported () const
	returns true if this flight stack supports MAV_CMD_DO_SET_MODE

virtual QString	smartRTLFlightMode () const
	Returns the flight mode for Smart RTL.

virtual bool	supportsSmartRTL () const

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

virtual double	minimumTakeoffAltitudeMeters (Vehicle *) const

virtual int	defaultJoystickTXMode () const

virtual bool	supportsThrottleModeCenterZero () const

virtual bool	supportsRadio () const

virtual bool	supportsJSButton () const

virtual bool	supportsMotorInterference () const

virtual void	adjustOutgoingMavlinkMessageThreadSafe (Vehicle , LinkInterface , mavlink_message_t *)

virtual const remapParamNameMajorVersionMap_t &	paramNameRemapMajorVersionMap () const
	Returns the mapping structure which is used to map from one parameter name to another based on firmware version.

virtual int	remapParamNameHigestMinorVersionNumber (int) const
	Returns the highest major version number that is known to the remap for this specified major version.

virtual bool	multiRotorCoaxialMotors (Vehicle *) const

virtual bool	multiRotorXConfig (Vehicle *) 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 const QVariantList &	toolIndicators (const Vehicle *vehicle)

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 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 Autotune *	createAutotune (Vehicle *vehicle) const
	Creates Autotune object.

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 ()

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)

virtual uint32_t	_convertToCustomFlightModeEnum (uint32_t val) const

void	_updateFlightModeList (FlightModeList &flightModeList)

void	_addNewFlightMode (FirmwareFlightMode &flightMode)

Protected Attributes inherited from FirmwarePlugin
FlightModeList	_flightModeList

FlightModeCustomModeMap	_modeEnumToString

QVariantList	_toolIndicatorList

QVariantList	_modeIndicatorList

Detailed Description

Definition at line 6 of file PX4FirmwarePlugin.h.

Constructor & Destructor Documentation

◆ PX4FirmwarePlugin()

◆ ~PX4FirmwarePlugin()

PX4FirmwarePlugin::~PX4FirmwarePlugin ( )

virtual

Definition at line 89 of file PX4FirmwarePlugin.cc.

Member Function Documentation

◆ _changeAltAfterPause()

void PX4FirmwarePlugin::_changeAltAfterPause	(	void *	resultHandlerData,
		bool	pauseSucceeded
	)

Definition at line 453 of file PX4FirmwarePlugin.cc.

References Vehicle::defaultComponentId(), PauseVehicleThenChangeAltData_t::newAMSLAlt, qgcApp, Vehicle::sendMavCommand(), and PauseVehicleThenChangeAltData_t::vehicle.

Referenced by _pauseVehicleThenChangeAltResultHandler(), and guidedModeChangeAltitude().

◆ _getMetaDataForFact()

FactMetaData * PX4FirmwarePlugin::_getMetaDataForFact	(	QObject *	,
		const QString &	,
		FactMetaData::ValueType_t	,
		MAV_TYPE
	)		const

overridevirtual

Returns the FactMetaData associated with the parameter name

Parameters

opaqueParameterMetaData Opaque pointer returned from loadParameterMetaData Important: Only CompInfoParam code should use this method

Reimplemented from FirmwarePlugin.

Definition at line 180 of file PX4FirmwarePlugin.cc.

References PX4ParameterMetaData::getMetaDataForFact().

◆ _getParameterMetaDataVersionInfo()

void PX4FirmwarePlugin::_getParameterMetaDataVersionInfo	(	const QString &	metaDataFile,
		int &	majorVersion,
		int &	minorVersion
	)		const

overridevirtual

Returns the parameter set version info pulled from inside the meta data file. -1 if not found. Note: The implementation for this must not vary by vehicle type. Important: Only CompInfoParam code should use this method

Reimplemented from FirmwarePlugin.

Definition at line 193 of file PX4FirmwarePlugin.cc.

References PX4ParameterMetaData::getParameterMetaDataVersionInfo().

◆ _internalParameterMetaDataFile()

QString PX4FirmwarePlugin::_internalParameterMetaDataFile ( const Vehicle * ) const

inlineoverridevirtual

Returns the internal resource parameter meta date file. Important: Only CompInfoParam code should use this method

Reimplemented from FirmwarePlugin.

Definition at line 57 of file PX4FirmwarePlugin.h.

◆ _loadParameterMetaData()

QObject * PX4FirmwarePlugin::_loadParameterMetaData ( const QString & )

finalvirtual

Loads the specified parameter meta data file.

Returns: Opaque parameter meta data information which must be stored with Vehicle. Vehicle is responsible to call deleteParameterMetaData when no longer needed. Important: Only CompInfoParam code should use this method

Reimplemented from FirmwarePlugin.

Definition at line 270 of file PX4FirmwarePlugin.cc.

References PX4ParameterMetaData::loadParameterFactMetaDataFile().

◆ adjustIncomingMavlinkMessage()

bool PX4FirmwarePlugin::adjustIncomingMavlinkMessage	(	Vehicle *	,
		mavlink_message_t *
	)

overridevirtual

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 from FirmwarePlugin.

Definition at line 644 of file PX4FirmwarePlugin.cc.

◆ autoDisarmParameter()

QString PX4FirmwarePlugin::autoDisarmParameter ( Vehicle * vehicle ) const

inlineoverridevirtual

Reimplemented from FirmwarePlugin.

Definition at line 64 of file PX4FirmwarePlugin.h.

◆ autopilotPlugin()

AutoPilotPlugin * PX4FirmwarePlugin::autopilotPlugin ( Vehicle * vehicle ) const

overridevirtual

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

Reimplemented from FirmwarePlugin.

Definition at line 93 of file PX4FirmwarePlugin.cc.

◆ brandImageIndoor()

QString PX4FirmwarePlugin::brandImageIndoor ( const Vehicle * ) const

inlineoverridevirtual

Return the resource file which contains the brand image for the vehicle for Indoor theme.

Reimplemented from FirmwarePlugin.

Definition at line 62 of file PX4FirmwarePlugin.h.

◆ brandImageOutdoor()

QString PX4FirmwarePlugin::brandImageOutdoor ( const Vehicle * ) const

inlineoverridevirtual

Return the resource file which contains the brand image for the vehicle for Outdoor theme.

Reimplemented from FirmwarePlugin.

Definition at line 63 of file PX4FirmwarePlugin.h.

◆ expandedToolbarIndicatorSource()

QVariant PX4FirmwarePlugin::expandedToolbarIndicatorSource	(	const Vehicle *	vehicle,
		const QString &	indicatorName
	)		const

overridevirtual

Reimplemented from FirmwarePlugin.

Definition at line 817 of file PX4FirmwarePlugin.cc.

◆ fixedWingAirSpeedLimitsAvailable()

bool PX4FirmwarePlugin::fixedWingAirSpeedLimitsAvailable ( Vehicle * ) const

overridevirtual

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

Reimplemented from FirmwarePlugin.

Definition at line 384 of file PX4FirmwarePlugin.cc.

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

◆ flightMode()

QString PX4FirmwarePlugin::flightMode	(	uint8_t	base_mode,
		uint32_t	custom_mode
	)		const

overridevirtual

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 from FirmwarePlugin.

Definition at line 118 of file PX4FirmwarePlugin.cc.

References FirmwarePlugin::_modeEnumToString, and flightMode().

Referenced by flightMode(), and setFlightMode().

◆ flightModes()

QStringList PX4FirmwarePlugin::flightModes ( Vehicle * ) const

overridevirtual

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 from FirmwarePlugin.

Definition at line 98 of file PX4FirmwarePlugin.cc.

References FirmwarePlugin::_flightModeList, Vehicle::fixedWing(), and Vehicle::multiRotor().

◆ followFlightMode()

QString PX4FirmwarePlugin::followFlightMode ( void ) const

overridevirtual

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

Reimplemented from FirmwarePlugin.

Definition at line 623 of file PX4FirmwarePlugin.cc.

References FirmwarePlugin::_modeEnumToString, and PX4CustomMode::AUTO_FOLLOW_TARGET.

◆ getHobbsMeter()

QString PX4FirmwarePlugin::getHobbsMeter ( Vehicle * vehicle ) const

overridevirtual

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

Reimplemented from FirmwarePlugin.

Definition at line 726 of file PX4FirmwarePlugin.cc.

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

◆ gotoFlightMode()

QString PX4FirmwarePlugin::gotoFlightMode ( void ) const

overridevirtual

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

Reimplemented from FirmwarePlugin.

Definition at line 618 of file PX4FirmwarePlugin.cc.

References FirmwarePlugin::_modeEnumToString, and PX4CustomMode::AUTO_LOITER.

Referenced by setGuidedMode().

◆ guidedModeChangeAltitude()

void PX4FirmwarePlugin::guidedModeChangeAltitude	(	Vehicle *	vehicle,
		double	altitudeChange,
		bool	pauseVehicle
	)

overridevirtual

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 from FirmwarePlugin.

Definition at line 474 of file PX4FirmwarePlugin.cc.

References _changeAltAfterPause(), _pauseVehicleThenChangeAltResultHandler(), Vehicle::defaultComponentId(), Vehicle::homePosition(), PauseVehicleThenChangeAltData_t::newAMSLAlt, pauseVehicle(), PauseVehicleThenChangeAltData_t::plugin, qgcApp, Vehicle::MavCmdAckHandlerInfo_s::resultHandler, Vehicle::MavCmdAckHandlerInfo_s::resultHandlerData, Vehicle::sendMavCommandWithHandler(), and PauseVehicleThenChangeAltData_t::vehicle.

◆ guidedModeChangeEquivalentAirspeedMetersSecond()

void PX4FirmwarePlugin::guidedModeChangeEquivalentAirspeedMetersSecond	(	Vehicle *	vehicle,
		double	airspeed_equiv
	)		const

overridevirtual

Command vehicle to change equivalent airspeed

Parameters

airspeed_equiv Equivalent airspeed in m/s

Reimplemented from FirmwarePlugin.

Definition at line 525 of file PX4FirmwarePlugin.cc.

References Vehicle::defaultComponentId(), and Vehicle::sendMavCommand().

◆ guidedModeChangeGroundSpeedMetersSecond()

void PX4FirmwarePlugin::guidedModeChangeGroundSpeedMetersSecond	(	Vehicle *	vehicle,
		double	groundspeed
	)		const

overridevirtual

Command vehicle to change groundspeed

Parameters

groundspeed Groundspeed in m/s

Reimplemented from FirmwarePlugin.

Definition at line 511 of file PX4FirmwarePlugin.cc.

References Vehicle::defaultComponentId(), and Vehicle::sendMavCommand().

◆ guidedModeChangeHeading()

void PX4FirmwarePlugin::guidedModeChangeHeading	(	Vehicle *	vehicle,
		const QGeoCoordinate &	headingCoord
	)		const

overridevirtual

Command vehicle to rotate towards specified location.

Reimplemented from FirmwarePlugin.

Definition at line 539 of file PX4FirmwarePlugin.cc.

References FirmwarePlugin::ChangeHeadingCapability, Vehicle::coordinate(), Vehicle::defaultComponentId(), isCapable(), qgcApp, and Vehicle::sendMavCommand().

◆ guidedModeGotoLocation()

void PX4FirmwarePlugin::guidedModeGotoLocation	(	Vehicle *	vehicle,
		const QGeoCoordinate &	gotoCoord,
		double	forwardFlightLoiterRadius
	)		const

overridevirtual

Command vehicle to move to specified location (altitude is included and relative)

Reimplemented from FirmwarePlugin.

Definition at line 390 of file PX4FirmwarePlugin.cc.

References Vehicle::capabilityBits(), Vehicle::defaultComponentId(), qgcApp, Vehicle::sendMavCommand(), and Vehicle::sendMavCommandInt().

◆ guidedModeLand()

void PX4FirmwarePlugin::guidedModeLand ( Vehicle * vehicle ) const

overridevirtual

Command vehicle to land at current location.

Reimplemented from FirmwarePlugin.

Definition at line 299 of file PX4FirmwarePlugin.cc.

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

◆ guidedModeRTL()

void PX4FirmwarePlugin::guidedModeRTL	(	Vehicle *	vehicle,
		bool	smartRTL
	)		const

overridevirtual

Command vehicle to return to launch.

Reimplemented from FirmwarePlugin.

Definition at line 293 of file PX4FirmwarePlugin.cc.

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

◆ guidedModeTakeoff()

void PX4FirmwarePlugin::guidedModeTakeoff	(	Vehicle *	vehicle,
		double	takeoffAltRel
	)		const

overridevirtual

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

Reimplemented from FirmwarePlugin.

Definition at line 325 of file PX4FirmwarePlugin.cc.

References Vehicle::defaultComponentId(), Vehicle::mavCommandResult(), qgcApp, and Vehicle::sendMavCommand().

◆ hasGripper()

bool PX4FirmwarePlugin::hasGripper ( const Vehicle * ) const

overridevirtual

Returns: Return true if the GCS has enabled Grip_enable option

Reimplemented from FirmwarePlugin.

Definition at line 748 of file PX4FirmwarePlugin.cc.

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

◆ highLatencyCustomModeTo32Bits()

uint32_t PX4FirmwarePlugin::highLatencyCustomModeTo32Bits ( uint16_t hlCustomMode ) const

overridevirtual

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

Reimplemented from FirmwarePlugin.

Definition at line 701 of file PX4FirmwarePlugin.cc.

References px4_custom_mode::custom_mode_hl, and px4_custom_mode::data.

◆ initializeVehicle()

void PX4FirmwarePlugin::initializeVehicle ( Vehicle * )

overridevirtual

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

Reimplemented from FirmwarePlugin.

Definition at line 168 of file PX4FirmwarePlugin.cc.

References Vehicle::setFirmwarePluginInstanceData().

◆ isCapable()

bool PX4FirmwarePlugin::isCapable	(	const Vehicle *	,
		FirmwareCapabilities
	)		const

overridevirtual

Returns: true: Firmware supports all specified capabilites

Reimplemented from FirmwarePlugin.

Definition at line 152 of file PX4FirmwarePlugin.cc.

References FirmwarePlugin::ChangeHeadingCapability, Vehicle::fixedWing(), FirmwarePlugin::GuidedModeCapability, FirmwarePlugin::GuidedTakeoffCapability, Vehicle::multiRotor(), FirmwarePlugin::OrbitModeCapability, FirmwarePlugin::PauseVehicleCapability, FirmwarePlugin::ROIModeCapability, FirmwarePlugin::SetFlightModeCapability, FirmwarePlugin::TakeoffVehicleCapability, and Vehicle::vtol().

Referenced by guidedModeChangeHeading().

◆ isGuidedMode()

bool PX4FirmwarePlugin::isGuidedMode ( const Vehicle * ) const

overridevirtual

Returns whether the vehicle is in guided mode or not.

Reimplemented from FirmwarePlugin.

Definition at line 638 of file PX4FirmwarePlugin.cc.

References Vehicle::flightMode(), landFlightMode(), pauseFlightMode(), and takeOffFlightMode().

◆ landFlightMode()

QString PX4FirmwarePlugin::landFlightMode ( void ) const

overridevirtual

Returns the flight mode for Land.

Reimplemented from FirmwarePlugin.

Definition at line 608 of file PX4FirmwarePlugin.cc.

References FirmwarePlugin::_modeEnumToString, and PX4CustomMode::AUTO_LAND.

Referenced by guidedModeLand(), and isGuidedMode().

◆ maximumEquivalentAirspeed()

double PX4FirmwarePlugin::maximumEquivalentAirspeed ( Vehicle * ) const

overridevirtual

Returns: The maximum equivalent airspeed setpoint.

Reimplemented from FirmwarePlugin.

Definition at line 357 of file PX4FirmwarePlugin.cc.

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

◆ maximumHorizontalSpeedMultirotor()

double PX4FirmwarePlugin::maximumHorizontalSpeedMultirotor ( Vehicle * ) const

overridevirtual

Returns: The maximum horizontal groundspeed for a multirotor.

Reimplemented from FirmwarePlugin.

Definition at line 346 of file PX4FirmwarePlugin.cc.

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

◆ minimumEquivalentAirspeed()

double PX4FirmwarePlugin::minimumEquivalentAirspeed ( Vehicle * ) const

overridevirtual

Returns: The minimum equivalent airspeed setpoint

Reimplemented from FirmwarePlugin.

Definition at line 368 of file PX4FirmwarePlugin.cc.

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

◆ missionCommandOverrides()

QString PX4FirmwarePlugin::missionCommandOverrides ( QGCMAVLink::VehicleClass_t vehicleClass ) const

overridevirtual

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 from FirmwarePlugin.

Definition at line 249 of file PX4FirmwarePlugin.cc.

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

◆ missionFlightMode()

QString PX4FirmwarePlugin::missionFlightMode ( void ) const

overridevirtual

Returns the flight mode for running missions.

Reimplemented from FirmwarePlugin.

Definition at line 598 of file PX4FirmwarePlugin.cc.

References FirmwarePlugin::_modeEnumToString, and PX4CustomMode::AUTO_MISSION.

Referenced by startMission().

◆ mulirotorSpeedLimitsAvailable()

bool PX4FirmwarePlugin::mulirotorSpeedLimitsAvailable ( Vehicle * ) const

overridevirtual

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

Reimplemented from FirmwarePlugin.

Definition at line 379 of file PX4FirmwarePlugin.cc.

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

◆ offlineEditingParamFile()

QString PX4FirmwarePlugin::offlineEditingParamFile ( Vehicle * ) const

inlineoverridevirtual

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

Reimplemented from FirmwarePlugin.

Definition at line 61 of file PX4FirmwarePlugin.h.

◆ pauseFlightMode()

QString PX4FirmwarePlugin::pauseFlightMode ( void ) const

overridevirtual

Returns The flight mode which indicates the vehicle is paused.

Reimplemented from FirmwarePlugin.

Definition at line 593 of file PX4FirmwarePlugin.cc.

References FirmwarePlugin::_modeEnumToString, and PX4CustomMode::AUTO_LOITER.

Referenced by isGuidedMode().

◆ pauseVehicle()

void PX4FirmwarePlugin::pauseVehicle ( Vehicle * vehicle ) const

overridevirtual

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 from FirmwarePlugin.

Definition at line 279 of file PX4FirmwarePlugin.cc.

References Vehicle::defaultComponentId(), and Vehicle::sendMavCommand().

Referenced by guidedModeChangeAltitude(), and setGuidedMode().

◆ rtlFlightMode()

QString PX4FirmwarePlugin::rtlFlightMode ( void ) const

overridevirtual

Returns the flight mode for RTL.

Reimplemented from FirmwarePlugin.

Definition at line 603 of file PX4FirmwarePlugin.cc.

References FirmwarePlugin::_modeEnumToString, and PX4CustomMode::AUTO_RTL.

Referenced by guidedModeRTL().

◆ sendHomePositionToVehicle()

bool PX4FirmwarePlugin::sendHomePositionToVehicle ( void ) const

overridevirtual

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 from FirmwarePlugin.

Definition at line 173 of file PX4FirmwarePlugin.cc.

◆ setFlightMode()

bool PX4FirmwarePlugin::setFlightMode	(	const QString &	flightMode,
		uint8_t *	base_mode,
		uint32_t *	custom_mode
	)		const

overridevirtual

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 from FirmwarePlugin.

Definition at line 129 of file PX4FirmwarePlugin.cc.

References FirmwarePlugin::_flightModeList, and flightMode().

◆ setGuidedMode()

void PX4FirmwarePlugin::setGuidedMode	(	Vehicle *	vehicle,
		bool	guidedMode
	)		const

overridevirtual

Set guided flight mode.

Reimplemented from FirmwarePlugin.

Definition at line 584 of file PX4FirmwarePlugin.cc.

References FirmwarePlugin::_setFlightModeAndValidate(), gotoFlightMode(), and pauseVehicle().

◆ stabilizedFlightMode()

QString PX4FirmwarePlugin::stabilizedFlightMode ( void ) const

overridevirtual

Returns the flight mode for Stabilized.

Reimplemented from FirmwarePlugin.

Definition at line 633 of file PX4FirmwarePlugin.cc.

References FirmwarePlugin::_modeEnumToString, and PX4CustomMode::STABILIZED.

◆ startMission()

void PX4FirmwarePlugin::startMission ( Vehicle * vehicle ) const

overridevirtual

Command the vehicle to start the mission.

Reimplemented from FirmwarePlugin.

Definition at line 572 of file PX4FirmwarePlugin.cc.

References FirmwarePlugin::_armVehicleAndValidate(), FirmwarePlugin::_setFlightModeAndValidate(), missionFlightMode(), and qgcApp.

◆ startTakeoff()

void PX4FirmwarePlugin::startTakeoff ( Vehicle * vehicle ) const

overridevirtual

Command the vehicle to start a takeoff.

Reimplemented from FirmwarePlugin.

Definition at line 560 of file PX4FirmwarePlugin.cc.

References FirmwarePlugin::_armVehicleAndValidate(), FirmwarePlugin::_setFlightModeAndValidate(), qgcApp, and takeOffFlightMode().

◆ supportedMissionCommands()

QList< MAV_CMD > PX4FirmwarePlugin::supportedMissionCommands ( QGCMAVLink::VehicleClass_t ) const

overridevirtual

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

Reimplemented from FirmwarePlugin.

Definition at line 198 of file PX4FirmwarePlugin.cc.

References QGCMAVLink::VehicleClassFixedWing, QGCMAVLink::VehicleClassGeneric, QGCMAVLink::VehicleClassMultiRotor, and QGCMAVLink::VehicleClassVTOL.

◆ supportsNegativeThrust()

bool PX4FirmwarePlugin::supportsNegativeThrust ( Vehicle * ) const

overridevirtual

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

Reimplemented from FirmwarePlugin.

Definition at line 721 of file PX4FirmwarePlugin.cc.

References Vehicle::vehicleType().

◆ takeControlFlightMode()

QString PX4FirmwarePlugin::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 613 of file PX4FirmwarePlugin.cc.

References FirmwarePlugin::_modeEnumToString, and PX4CustomMode::MANUAL.

◆ takeOffFlightMode()

QString PX4FirmwarePlugin::takeOffFlightMode ( void ) const

overridevirtual

Returns the flight mode for TakeOff.

Reimplemented from FirmwarePlugin.

Definition at line 628 of file PX4FirmwarePlugin.cc.

References FirmwarePlugin::_modeEnumToString, and PX4CustomMode::AUTO_TAKEOFF.

Referenced by isGuidedMode(), and startTakeoff().

◆ updateAvailableFlightModes()

void PX4FirmwarePlugin::updateAvailableFlightModes ( FlightModeList & flightModeList )

overridevirtual

Update Available flight modes recieved from vehicle.

Reimplemented from FirmwarePlugin.

Definition at line 757 of file PX4FirmwarePlugin.cc.

Referenced by PX4FirmwarePlugin().

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

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PX4FirmwarePlugin()

◆ ~PX4FirmwarePlugin()

Member Function Documentation

◆ _changeAltAfterPause()

◆ _getMetaDataForFact()

◆ _getParameterMetaDataVersionInfo()

◆ _internalParameterMetaDataFile()

◆ _loadParameterMetaData()

◆ adjustIncomingMavlinkMessage()

◆ autoDisarmParameter()

◆ autopilotPlugin()

◆ brandImageIndoor()

◆ brandImageOutdoor()

◆ expandedToolbarIndicatorSource()

◆ fixedWingAirSpeedLimitsAvailable()

◆ flightMode()

◆ flightModes()

◆ followFlightMode()

◆ getHobbsMeter()

◆ gotoFlightMode()

◆ guidedModeChangeAltitude()

◆ guidedModeChangeEquivalentAirspeedMetersSecond()

◆ guidedModeChangeGroundSpeedMetersSecond()

◆ guidedModeChangeHeading()

◆ guidedModeGotoLocation()

◆ guidedModeLand()

◆ guidedModeRTL()

◆ guidedModeTakeoff()

◆ hasGripper()

◆ highLatencyCustomModeTo32Bits()

◆ initializeVehicle()

◆ isCapable()

◆ isGuidedMode()

◆ landFlightMode()

◆ maximumEquivalentAirspeed()

◆ maximumHorizontalSpeedMultirotor()

◆ minimumEquivalentAirspeed()

◆ missionCommandOverrides()

◆ missionFlightMode()

◆ mulirotorSpeedLimitsAvailable()

◆ offlineEditingParamFile()

◆ pauseFlightMode()

◆ pauseVehicle()

◆ rtlFlightMode()

◆ sendHomePositionToVehicle()

◆ setFlightMode()

◆ setGuidedMode()

◆ stabilizedFlightMode()

◆ startMission()

◆ startTakeoff()

◆ supportedMissionCommands()

◆ supportsNegativeThrust()

◆ takeControlFlightMode()

◆ takeOffFlightMode()

◆ updateAvailableFlightModes()