QGC Namespace Reference

Classes
class	AutoSuspendGuard
	RAII guard for an atomic suspend flag: sets on construction, clears on destruction. More...
class	EdgeTriggeredCounter
struct	Fletcher8
	8-bit Fletcher checksum: two running byte sums modulo 256. More...

Functions
void	showAppMessage (const QString &message, const QString &title=QString())
	Modal application message. Queued if the UI isn't ready yet.
void	showCriticalVehicleMessage (const QString &message)
void	showRebootAppMessage (const QString &message, const QString &title=QString())
	Modal reboot-required message. Debounced within 2 minutes.
bool	runningUnitTests ()
QString	numberToString (quint64 number)
	Decimal integer (e.g. "1,234,567").
QString	bigSizeToString (quint64 size)
	Byte size with unit: B, KB, MB, GB, TB. 1 fractional digit above 1 KB.
QString	bigSizeMBToString (quint64 sizeMB)
	MB-scaled size, output in MB/GB/TB. Input is in MB.
constexpr Fletcher8	fletcher8 (std::span< const uint8_t > bytes, Fletcher8 state={})
	Continues state over bytes, so a frame checksummed in parts matches the contiguous result.
constexpr uint16_t	crc16Xmodem (std::span< const uint8_t > bytes)
	CRC-16/XMODEM: polynomial 0x1021, initial value 0, no reflection and no final XOR.
constexpr uint32_t	crc24q (std::span< const uint8_t > bytes)
	CRC-24Q: polynomial 0x1864CFB, initial value 0, no reflection and no final XOR.
constexpr uint8_t	nmeaChecksum (std::span< const uint8_t > body)
	XOR of all bytes, the checksum NMEA 0183 sentences carry over their body.
constexpr uint32_t	crc32Update (std::span< const uint8_t > bytes, uint32_t state=0)
	Reflected CRC-32 update; the caller supplies the initial state and final complement policy.
float	limitAngleToPMPIf (double angle)
double	limitAngleToPMPId (double angle)
quint32	crc32 (const quint8 *src, unsigned len, unsigned state)
bool	fuzzyCompare (double value1, double value2)
	Returns true if the two values are equal or close. Correctly handles 0 and NaN values.
bool	fuzzyCompare (double value1, double value2, double tolerance)
bool	fuzzyCompare (float value1, float value2)
bool	fuzzyCompare (float value1, float value2, float tolerance)
void	secureZero (void *data, size_t size)
void	secureZero (QByteArray &data)
template<typename T , size_t N>
void	secureZero (std::array< T, N > &arr)

Variables
constexpr uint32_t	CRC32_TABLE []

Function Documentation

bigSizeMBToString()

QString QGC::bigSizeMBToString

(

quint64

sizeMB

)

MB-scaled size, output in MB/GB/TB. Input is in MB.

Definition at line 38 of file QGCFormat.cc.

Referenced by VehicleCameraControl::storageFreeStr().

bigSizeToString()

QString QGC::bigSizeToString

(

quint64

size

)

Byte size with unit: B, KB, MB, GB, TB. 1 fractional digit above 1 KB.

Definition at line 20 of file QGCFormat.cc.

Referenced by QGroundControlQmlGlobal::bigSizeToString(), QGCCachedTileSet::savedTileSizeStr(), QGCOnboardLogEntry::sizeStr(), QGCMapEngineManager::tileSizeStr(), QGCCachedTileSet::totalTilesSizeStr(), and QGCCachedTileSet::uniqueTileSizeStr().

crc16Xmodem()

constexpr uint16_t QGC::crc16Xmodem ( std::span< const uint8_t >  bytes )

constexpr

CRC-16/XMODEM: polynomial 0x1021, initial value 0, no reflection and no final XOR.

Definition at line 28 of file Checksums.h.

Referenced by SBF::checkedHeader().

crc24q()

constexpr uint32_t QGC::crc24q ( std::span< const uint8_t >  bytes )

constexpr

CRC-24Q: polynomial 0x1864CFB, initial value 0, no reflection and no final XOR.

Definition at line 40 of file Checksums.h.

Referenced by RTCMFramer::isValidFrame().

crc32()

quint32 QGC::crc32	(	const quint8 *	src,
		unsigned	len,
		unsigned	state
	)

Definition at line 66 of file QGCMath.cc.

References crc32Update().

crc32Update()

constexpr uint32_t QGC::crc32Update ( std::span< const uint8_t >  bytes, uint32_t  state = 0  )

constexpr

Reflected CRC-32 update; the caller supplies the initial state and final complement policy.

Definition at line 39 of file CRC32.h.

References CRC32_TABLE.

Referenced by crc32(), and gpsASCIILog().

fletcher8()

constexpr Fletcher8 QGC::fletcher8 ( std::span< const uint8_t >  bytes, Fletcher8  state = {}  )

constexpr

Continues state over bytes, so a frame checksummed in parts matches the contiguous result.

Definition at line 18 of file Checksums.h.

Referenced by UBX::FrameDecoder::consume(), and UBX::encodeFrame().

fuzzyCompare() [1/4]

bool QGC::fuzzyCompare	(	double	value1,
		double	value2
	)

Returns true if the two values are equal or close. Correctly handles 0 and NaN values.

Definition at line 71 of file QGCMath.cc.

Referenced by VisualMissionItem::setAltDifference(), VisualMissionItem::setAltPercent(), VisualMissionItem::setAzimuth(), FlightPathSegment::setCoord1AMSLAlt(), FlightPathSegment::setCoord2AMSLAlt(), VisualMissionItem::setDistance(), VisualMissionItem::setDistanceFromStart(), VisualMissionItem::setMissionFlightStatus(), SimpleMissionItem::setMissionFlightStatus(), StructureScanComplexItem::setMissionFlightStatus(), TransectStyleComplexItem::setMissionFlightStatus(), VisualMissionItem::setMissionVehicleYaw(), VisualMissionItem::setTerrainPercent(), ADSBVehicle::update(), and VTOLLandingComplexItem::VTOLLandingComplexItem().

fuzzyCompare() [2/4]

bool QGC::fuzzyCompare	(	double	value1,
		double	value2,
		double	tolerance
	)

Definition at line 84 of file QGCMath.cc.

fuzzyCompare() [3/4]

bool QGC::fuzzyCompare	(	float	value1,
		float	value2
	)

Definition at line 95 of file QGCMath.cc.

fuzzyCompare() [4/4]

bool QGC::fuzzyCompare	(	float	value1,
		float	value2,
		float	tolerance
	)

Definition at line 108 of file QGCMath.cc.

limitAngleToPMPId()

double QGC::limitAngleToPMPId

(

double

angle

)

Definition at line 38 of file QGCMath.cc.

limitAngleToPMPIf()

float QGC::limitAngleToPMPIf

(

double

angle

)

Definition at line 15 of file QGCMath.cc.

nmeaChecksum()

constexpr uint8_t QGC::nmeaChecksum ( std::span< const uint8_t >  body )

constexpr

XOR of all bytes, the checksum NMEA 0183 sentences carry over their body.

Definition at line 56 of file Checksums.h.

Referenced by NMEA::checksum().

numberToString()

QString QGC::numberToString

(

quint64

number

)

Decimal integer (e.g. "1,234,567").

Definition at line 15 of file QGCFormat.cc.

Referenced by VehicleCameraControl::batteryRemainingStr(), QGCCachedTileSet::errorCountStr(), QGCCachedTileSet::savedTileCountStr(), QGCMapEngineManager::tileCountStr(), QGCCachedTileSet::totalTileCountStr(), and QGCCachedTileSet::uniqueTileCountStr().

runningUnitTests()

bool QGC::runningUnitTests

(

)

Definition at line 30 of file AppMessages.cc.

References qgcApp.

Referenced by FirmwarePlugin::_cachedParameterMetaDataFile(), PlanManager::_startAckTimeout(), SettingsManager::adjustSettingMetaData(), FirmwarePlugin::checkIfIsLatestStable(), DECLARE_SETTINGGROUP(), VideoBackend::disabledForUnitTests(), Fact::Fact(), FTPManager::FTPManager(), RequestMessageCoordinator::handleReceivedMessage(), LinkManager::init(), AudioOutput::init(), PX4AirframeLoader::loadAirframeMetaData(), ParameterManager::ParameterManager(), MockLink::run10HzTasks(), MockLink::run1HzTasks(), MockLink::run500HzTasks(), AudioOutput::say(), MavCommandQueue::setTestAckTimeoutOverride(), SettingsFact::SettingsFact(), TransectStyleComplexItem::TransectStyleComplexItem(), Vehicle::Vehicle(), and VehicleLinkManager::VehicleLinkManager().

secureZero() [1/3]

void QGC::secureZero ( QByteArray &  data )

inline

Reliable wipe only when this is the sole owner; data() detaches a shared buffer, leaving the original copy intact. Prefer std::array for secrets.

Definition at line 40 of file SecureMemory.h.

References secureZero().

secureZero() [2/3]

template<typename T , size_t N>

void QGC::secureZero ( std::array< T, N > &  arr )

inline

Definition at line 49 of file SecureMemory.h.

References secureZero().

secureZero() [3/3]

void QGC::secureZero ( void *  data, size_t  size  )

inline

Wipe size bytes of data. Uses platform-provided primitives that the spec or vendor docs guarantee are not elidable by the optimizer (explicit_bzero / SecureZeroMemory). Falls back to a volatile-pointer loop on platforms without one (including Apple).

Definition at line 19 of file SecureMemory.h.

Referenced by MAVLinkSigningKeys::addKey(), VehicleSigningController::disable(), VehicleSigningController::enable(), SigningChannel::init(), MAVLinkSigningKeys::keyHexByName(), secureZero(), secureZero(), MAVLinkSigningKey::~MAVLinkSigningKey(), and SigningController::~SigningController().

showAppMessage()

void QGC::showAppMessage	(	const QString &	message,
		const QString &	title
	)

Modal application message. Queued if the UI isn't ready yet.

Definition at line 9 of file AppMessages.cc.

References qgcApp.

Referenced by PX4FirmwarePlugin::_changeAltAfterPause(), LandingComplexItem::_load(), FirmwarePlugin::_versionFileDownloadFinished(), ParameterEditorController::buildDiffFromFile(), AirframeComponentController::changeAutostart(), DECLARE_SETTINGGROUP(), DECLARE_SETTINGGROUP(), ComplexMissionItem::deletePreset(), MissionManager::generateResumeMission(), Vehicle::guidedModeChangeAltitude(), FirmwarePlugin::guidedModeChangeAltitude(), APMFirmwarePlugin::guidedModeChangeAltitude(), ArduRoverFirmwarePlugin::guidedModeChangeAltitude(), PX4FirmwarePlugin::guidedModeChangeAltitude(), Vehicle::guidedModeChangeEquivalentAirspeedMetersSecond(), FirmwarePlugin::guidedModeChangeEquivalentAirspeedMetersSecond(), Vehicle::guidedModeChangeGroundSpeedMetersSecond(), FirmwarePlugin::guidedModeChangeGroundSpeedMetersSecond(), Vehicle::guidedModeChangeHeading(), FirmwarePlugin::guidedModeChangeHeading(), APMFirmwarePlugin::guidedModeChangeHeading(), PX4FirmwarePlugin::guidedModeChangeHeading(), Vehicle::guidedModeGotoLocation(), APMFirmwarePlugin::guidedModeGotoLocation(), PX4FirmwarePlugin::guidedModeGotoLocation(), FirmwarePlugin::guidedModeGotoLocation(), Vehicle::guidedModeLand(), FirmwarePlugin::guidedModeLand(), Vehicle::guidedModeOrbit(), Vehicle::guidedModeROI(), PX4FirmwarePlugin::guidedModeROI(), Vehicle::guidedModeRTL(), FirmwarePlugin::guidedModeRTL(), Vehicle::guidedModeTakeoff(), FirmwarePlugin::guidedModeTakeoff(), PX4FirmwarePlugin::guidedModeTakeoff(), PlanMasterController::loadFromFile(), PlanMasterController::loadFromVehicle(), QGCMapPolygon::loadKMLOrSHPFile(), QGCMapPolyline::loadKMLOrSHPFile(), APMAirframeComponentController::loadParameters(), ComplexMissionItem::loadPreset(), CorridorScanComplexItem::loadPreset(), SurveyComplexItem::loadPreset(), MAVLinkProtocol::logSentBytes(), RemoteControlCalibrationController::nextButtonClicked(), AutoPilotPlugin::parametersReadyPreChecks(), PX4AutoPilotPlugin::parametersReadyPreChecks(), Vehicle::pauseVehicle(), FirmwarePlugin::pauseVehicle(), LinkInterface::reportMavlinkV1Traffic(), ComplexMissionItem::savePreset(), PlanMasterController::saveToFile(), ParameterEditorController::saveToFile(), PlanMasterController::saveToKml(), APMFirmwarePlugin::sendGCSMotionReport(), PlanMasterController::sendToVehicle(), MavCommandQueue::sendWorker(), FirmwarePlugin::setGuidedMode(), ShowAppMessageState::ShowAppMessageState(), MavCommandQueue::showCommandAckError(), FirmwarePlugin::startMission(), APMFirmwarePlugin::startMission(), PX4FirmwarePlugin::startMission(), VideoManager::startRecording(), FirmwarePlugin::startTakeoff(), APMFirmwarePlugin::startTakeoff(), PX4FirmwarePlugin::startTakeoff(), Vehicle::stopGuidedModeROI(), SimulatedCameraControl::takePhoto(), and VehicleCameraControl::takePhoto().

showCriticalVehicleMessage()

void QGC::showCriticalVehicleMessage

(

const QString &

message

)

Non-modal vehicle message. PreArm/preflight messages are suppressed here; they're routed through the Vehicle path instead.

Definition at line 16 of file AppMessages.cc.

References qgcApp.

showRebootAppMessage()

void QGC::showRebootAppMessage	(	const QString &	message,
		const QString &	title
	)

Modal reboot-required message. Debounced within 2 minutes.

Definition at line 23 of file AppMessages.cc.

References qgcApp.

Variable Documentation

CRC32_TABLE

constexpr uint32_t QGC::CRC32_TABLE[]

inlineconstexpr

Initial value:

= {
    0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, 0x0edb8832,
    0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, 0x1db71064, 0x6ab020f2,
    0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, 0x136c9856, 0x646ba8c0, 0xfd62f97a,
    0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5, 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172,
    0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, 0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3,
    0x45df5c75, 0xdcd60dcf, 0xabd13d59, 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423,
    0xcfba9599, 0xb8bda50f, 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab,
    0xb6662d3d, 0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
    0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01, 0x6b6b51f4,
    0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, 0x65b0d9c6, 0x12b7e950,
    0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65, 0x4db26158, 0x3ab551ce, 0xa3bc0074,
    0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0,
    0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, 0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525,
    0x206f85b3, 0xb966d409, 0xce61e49f, 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81,
    0xb7bd5c3b, 0xc0ba6cad, 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615,
    0x73dc1683, 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
    0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7, 0xfed41b76,
    0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, 0xd6d6a3e8, 0xa1d1937e,
    0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b, 0xd80d2bda, 0xaf0a1b4c, 0x36034af6,
    0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79, 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236,
    0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, 0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7,
    0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d, 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f,
    0x72076785, 0x05005713, 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7,
    0x0bdbdf21, 0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
    0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, 0xa00ae278,
    0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, 0xaed16a4a, 0xd9d65adc,
    0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9, 0xbdbdf21c, 0xcabac28a, 0x53b39330,
    0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf, 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94,
    0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d}

Definition at line 7 of file CRC32.h.

Referenced by crc32Update().