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@ -30,10 +30,6 @@
@@ -30,10 +30,6 @@
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#include <Eigen/Geometry> |
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#include <comm/px4_custom_mode.h> |
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#ifdef QGC_PROTOBUF_ENABLED |
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#include <google/protobuf/descriptor.h> |
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#endif |
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/**
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* Gets the settings from the previous UAS (name, airframe, autopilot, battery specs) |
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* by calling readSettings. This means the new UAS will have the same settings |
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@ -128,14 +124,6 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
@@ -128,14 +124,6 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
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nedPosGlobalOffset(0,0,0), |
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nedAttGlobalOffset(0,0,0), |
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#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES) |
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receivedOverlayTimestamp(0.0), |
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receivedObstacleListTimestamp(0.0), |
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receivedPathTimestamp(0.0), |
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receivedPointCloudTimestamp(0.0), |
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receivedRGBDImageTimestamp(0.0), |
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#endif |
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airSpeed(std::numeric_limits<double>::quiet_NaN()), |
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groundSpeed(std::numeric_limits<double>::quiet_NaN()), |
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waypointManager(this), |
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@ -1545,105 +1533,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
@@ -1545,105 +1533,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
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} |
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} |
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#if defined(QGC_PROTOBUF_ENABLED) |
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/**
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* Receive an extended message. |
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* @param link |
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* @param message |
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*/ |
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void UAS::receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<google::protobuf::Message> message) |
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{ |
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if (!link) |
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{ |
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return; |
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} |
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if (!links->contains(link)) |
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{ |
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addLink(link); |
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} |
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const google::protobuf::Descriptor* descriptor = message->GetDescriptor(); |
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if (!descriptor) |
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{ |
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return; |
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} |
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const google::protobuf::FieldDescriptor* headerField = descriptor->FindFieldByName("header"); |
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if (!headerField) |
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{ |
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return; |
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} |
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const google::protobuf::Descriptor* headerDescriptor = headerField->message_type(); |
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if (!headerDescriptor) |
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{ |
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return; |
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} |
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const google::protobuf::FieldDescriptor* sourceSysIdField = headerDescriptor->FindFieldByName("source_sysid"); |
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if (!sourceSysIdField) |
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{ |
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return; |
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} |
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const google::protobuf::Reflection* reflection = message->GetReflection(); |
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const google::protobuf::Message& headerMsg = reflection->GetMessage(*message, headerField); |
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const google::protobuf::Reflection* headerReflection = headerMsg.GetReflection(); |
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int source_sysid = headerReflection->GetInt32(headerMsg, sourceSysIdField); |
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if (source_sysid != uasId) |
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{ |
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return; |
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} |
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#ifdef QGC_USE_PIXHAWK_MESSAGES |
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if (message->GetTypeName() == overlay.GetTypeName()) |
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{ |
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receivedOverlayTimestamp = QGC::groundTimeSeconds(); |
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overlayMutex.lock(); |
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overlay.CopyFrom(*message); |
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overlayMutex.unlock(); |
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emit overlayChanged(this); |
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} |
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else if (message->GetTypeName() == obstacleList.GetTypeName()) |
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{ |
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receivedObstacleListTimestamp = QGC::groundTimeSeconds(); |
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obstacleListMutex.lock(); |
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obstacleList.CopyFrom(*message); |
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obstacleListMutex.unlock(); |
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emit obstacleListChanged(this); |
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} |
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else if (message->GetTypeName() == path.GetTypeName()) |
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{ |
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receivedPathTimestamp = QGC::groundTimeSeconds(); |
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pathMutex.lock(); |
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path.CopyFrom(*message); |
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pathMutex.unlock(); |
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emit pathChanged(this); |
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} |
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else if (message->GetTypeName() == pointCloud.GetTypeName()) |
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{ |
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receivedPointCloudTimestamp = QGC::groundTimeSeconds(); |
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pointCloudMutex.lock(); |
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pointCloud.CopyFrom(*message); |
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pointCloudMutex.unlock(); |
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emit pointCloudChanged(this); |
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} |
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else if (message->GetTypeName() == rgbdImage.GetTypeName()) |
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{ |
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receivedRGBDImageTimestamp = QGC::groundTimeSeconds(); |
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rgbdImageMutex.lock(); |
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rgbdImage.CopyFrom(*message); |
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rgbdImageMutex.unlock(); |
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emit rgbdImageChanged(this); |
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} |
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#endif |
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} |
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#endif |
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/**
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* Set the home position of the UAS. |
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* @param lat The latitude fo the home position |
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Lorenz Meier
11 years ago