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80 lines
2.7 KiB
80 lines
2.7 KiB
10 years ago
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/*=====================================================================
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QGroundControl Open Source Ground Control Station
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(c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project
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QGROUNDCONTROL is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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QGROUNDCONTROL is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/
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#include "APMAutoPilotPlugin.h"
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#include "AutoPilotPluginManager.h"
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#include "QGCMessageBox.h"
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#include "UAS.h"
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#include "FirmwarePlugin/APM/APMParameterLoader.h" // FIXME: Hack
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#include "FirmwarePlugin/APM/APMFirmwarePlugin.h" // FIXME: Hack
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/// This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_ARDUPILOT type.
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APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
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AutoPilotPlugin(vehicle, parent),
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_incorrectParameterVersion(false)
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{
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Q_ASSERT(vehicle);
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// This kicks off parameter load
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_firmwarePlugin->getParameterLoader(this, vehicle);
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}
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APMAutoPilotPlugin::~APMAutoPilotPlugin()
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{
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}
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void APMAutoPilotPlugin::clearStaticData(void)
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{
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APMParameterLoader::clearStaticData();
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}
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const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
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{
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static const QVariantList emptyList;
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return emptyList;
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}
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/// This will perform various checks prior to signalling that the plug in ready
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void APMAutoPilotPlugin::_parametersReadyPreChecks(bool missingParameters)
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{
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#if 0
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I believe APM has parameter version stamp, we should check that
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// Check for older parameter version set
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// FIXME: Firmware is moving to version stamp parameter set. Once that is complete the version stamp
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// should be used instead.
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if (parameterExists(FactSystem::defaultComponentId, "SENS_GYRO_XOFF")) {
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_incorrectParameterVersion = true;
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QGCMessageBox::warning("Setup", "This version of GroundControl can only perform vehicle setup on a newer version of firmware. "
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"Please perform a Firmware Upgrade if you wish to use Vehicle Setup.");
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}
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#endif
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_parametersReady = true;
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_missingParameters = missingParameters;
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emit missingParametersChanged(_missingParameters);
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emit parametersReadyChanged(_parametersReady);
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}
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