QG4/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

/*=====================================================================
 
 QGroundControl Open Source Ground Control Station
 
 (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
 This file is part of the QGROUNDCONTROL project
 
 QGROUNDCONTROL is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 
 QGROUNDCONTROL is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.
 
 You should have received a copy of the GNU General Public License
 along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/

/// @file
///     @author Don Gagne <don@thegagnes.com>

#ifndef PX4FirmwarePlugin_H
#define PX4FirmwarePlugin_H

#include "FirmwarePlugin.h"
#include "ParameterLoader.h"
#include "PX4ParameterMetaData.h"

class PX4FirmwarePlugin : public FirmwarePlugin
{
    Q_OBJECT

public:
    // Overrides from FirmwarePlugin

    QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle) final;
    QList<MAV_CMD> supportedMissionCommands(void) final;

    bool        isCapable                       (FirmwareCapabilities capabilities) final;
    QStringList flightModes                     (void) final;
    QString     flightMode                      (uint8_t base_mode, uint32_t custom_mode) const final;
    bool        setFlightMode                   (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
    void        setGuidedMode(Vehicle* vehicle, bool guidedMode) final;
    void        pauseVehicle(Vehicle* vehicle) final;
    void        guidedModeRTL(Vehicle* vehicle) final;
    void        guidedModeLand(Vehicle* vehicle) final;
    void        guidedModeTakeoff(Vehicle* vehicle, double altitudeRel) final;
    void        guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord) final;
    void        guidedModeChangeAltitude(Vehicle* vehicle, double altitudeRel) final;
    int         manualControlReservedButtonCount(void) final;
    void        initializeVehicle               (Vehicle* vehicle) final;
    bool        sendHomePositionToVehicle       (void) final;
    void        addMetaDataToFact               (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final;
    QString     getDefaultComponentIdParam      (void) const final { return QString("SYS_AUTOSTART"); }
    void        missionCommandOverrides         (QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const final;
    QString     getVersionParam                 (void) final { return QString("SYS_PARAM_VER"); }
    QString     internalParameterMetaDataFile   (void) final { return QString(":/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml"); }
    void        getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { PX4ParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
    QObject*    loadParameterMetaData           (const QString& metaDataFile);

    // Use these constants to set flight modes using setFlightMode method. Don't use hardcoded string names since the
    // names may change.

    static const char* manualFlightMode;
    static const char* acroFlightMode;
    static const char* stabilizedFlightMode;
    static const char* rattitudeFlightMode;
    static const char* altCtlFlightMode;
    static const char* posCtlFlightMode;
    static const char* offboardFlightMode;
    static const char* readyFlightMode;
    static const char* takeoffFlightMode;
    static const char* pauseFlightMode;
    static const char* missionFlightMode;
    static const char* rtlFlightMode;
    static const char* landingFlightMode;
    static const char* rtgsFlightMode;
    static const char* followMeFlightMode;
};

#endif