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91 lines
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91 lines
0 B
12 years ago
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From where is the 3D mouse used?
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Comm folder:
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============
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LinkInterface is a QThread. Appears to describe an interface on the host system (TCP port, serial port, ....).
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Does it suppport multiple connections?
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SerialLinkInterface: Extension of above
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SerialLink: Implementation
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XBeeLinkInterface: Extension of LinkInterface (but without other serial stuff than baudrate, is the rest assumed?)
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XBeeLink: Implementation (with address resetting probably it's Series 1)
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UDPLink: UDP implementation. Port is defaulted.
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MAVLinkSimulationLink: Simulation/dummy implementation of LinkInterface. Does some file IO.
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MAVLinkSimulationUAV: Simulation/dummy basic (remote) UAV state (minus mission state) for MAVLinkSimulationLink.
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MAVLinkSimulationWaypointPlanner: imulation/dummy basic (remote) UAV mission state for MAVLinkSimulationLink.
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ProtocolInterface describes a protocol. Major method:
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virtual void receiveBytes(LinkInterface *link, QByteArray b) = 0;
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MavlinkProtocol: MAVLink implementation of ProtocolInterface
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Parameter: Identity of a parameter (the value types are not handled here. Oddly there is no type metainfo either)
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ParameterList: Is pretty much what the name impiles.
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QGCParamID: Wrapper if parameter text IDs, conversion to byte* and back
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QGCHilLink: Link to a HIL external system
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QCGFlightGearLink, QGCJSBSimLink, QGCXPlaneLink : Implementations of QGCHilLink
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QGCMAVLink: Nothing more than in include to raw mavlink.h
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input folder:
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=============
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Some exotic input devices
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uas folder:
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===========
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UAS.h: Local UAV model. Claims to support some sort of RPC. Uses some properties with notifications. Assumes MAVLink.
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Some methods:
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int getUASID() const; // the systemId
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QList<LinkInterface*>* getLinks(); // it knows its links
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virtual void receiveMessage(LinkInterface* link, mavlink_message_t message);
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float receiveDropRate; ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
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float sendDropRate; ///< Percentage of packets that were not received from the MAV by the GCS
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Some fields:
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bool positionLock; ///< Status if position information is available or not
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double localX; // (what is this?)
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double localY;
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double localZ;
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double latitude; ///< Global latitude as estimated by position estimator
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double longitude; ///< Global longitude as estimated by position estimator
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double altitude; ///< Global altitude as estimated by position estimator
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double satelliteCount; ///< Number of satellites visible to raw GPS
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bool globalEstimatorActive; ///< Global position estimator present, do not fall back to GPS raw for position
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double latitude_gps; ///< Global latitude as estimated by raw GPS
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double longitude_gps; ///< Global longitude as estimated by raw GPS
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double altitude_gps; ///< Global altitude as estimated by raw GPS
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and lots ans lots more...
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*MAV.h: Implementations of UAS
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QGCUASParamManager.h: A mixture of a widget and a parameter up/download state machine. Has a reference to its associated UAV.
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UASWaypointManager: API to waypoint / mission control. Not a widget. Has a reference to its associated UAV.
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UASManager.h: Singleton interface to all UASs on all interfaces. Maintains a single selected/active UAS.
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Ideas to do
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TCPLink
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XBee Series2 implementation
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Less stress on uplink
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Get rid of hardcoded SystemId of 255
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Quick View should print all altitudes (GPS, mix, ground and/or home), letting user see errors.
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Console debugging is hopefully removed?
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