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#include <QDebug>
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#include "MAVLinkSimulationMAV.h"
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MAVLinkSimulationMAV::MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int systemid) :
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QObject(parent),
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link(parent),
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planner(parent, systemid),
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systemid(systemid)
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{
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connect(&mainloopTimer, SIGNAL(timeout()), this, SLOT(mainloop()));
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mainloopTimer.start(1000);
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connect(link, SIGNAL(messageReceived(mavlink_message_t)), this, SLOT(handleMessage(mavlink_message_t)));
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mainloop();
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}
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void MAVLinkSimulationMAV::mainloop()
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{
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mavlink_message_t msg;
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mavlink_msg_heartbeat_pack(systemid, MAV_COMP_ID_IMU, &msg, MAV_FIXED_WING, MAV_AUTOPILOT_PIXHAWK);
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link->sendMAVLinkMessage(&msg);
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}
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void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg)
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{
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qDebug() << "MAV:" << systemid << "RECEIVED MESSAGE FROM" << msg.sysid << "COMP" << msg.compid;
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switch(msg.msgid)
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{
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case MAVLINK_MSG_ID_ATTITUDE:
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break;
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}
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}
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