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28 lines
1.8 KiB
28 lines
1.8 KiB
1 year ago
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# Class Hierarchy (high level)
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## LinkManager, LinkInterface
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A "Link" in QGC is a specific type of communication pipe with the vehicle such as a serial port or UDP over WiFi. The base class for all links is LinkInterface. Each link runs on it's own thread and sends bytes to MAVLinkProtocol.
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The `LinkManager` object keeps track of all open links in the system. `LinkManager` also manages automatic connections through serial and UDP links.
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## MAVLinkProtocol
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There is a single `MAVLinkProtocol` object in the system. It's job is to take incoming bytes from a link and translate them into MAVLink messages. MAVLink HEARTBEAT messages are routed to `MultiVehicleManager`. All MAVLink messages are routed to Vehicle's which are associated with the link.
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## MultiVehicleManager
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There is a single `MultiVehicleManager` object within the system. When it receives a HEARTBEAT on a link which has not been previously seen it creates a Vehicle object. `MultiVehicleManager` also keeps tracks of all Vehicles in the system and handles switching from one active vehicle to another and correctly handling a vehicle being removed.
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## Vehicle
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The Vehicle object is the main interface through which the QGC code communicates with the physical vehicle.
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Note: There is also a UAS object associated with each Vehicle which is a deprecated class and is slowly being phased out with all functionality moving to the Vehicle class. No new code should be added here.
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## FirmwarePlugin, FirmwarePluginManager
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The FirmwarePlugin class is the base class for firmware plugins. A firmware plugin contains the firmware specific code, such that the Vehicle object is clean with respect to it supporting a single standard interface to the UI.
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FirmwarePluginManager is a factory class which creates a FirmwarePlugin instance based on the MAV\_AUTOPILOT/MAV\_TYPE combination for the Vehicle.
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