diff --git a/libs/mavlink/include/mavlink/v2.0 b/libs/mavlink/include/mavlink/v2.0 index 0b8597c..6040b0d 160000 --- a/libs/mavlink/include/mavlink/v2.0 +++ b/libs/mavlink/include/mavlink/v2.0 @@ -1 +1 @@ -Subproject commit 0b8597ce3ec0f294dcf5e15dbbcd6068ef03eaa2 +Subproject commit 6040b0d10ebb253e4d67303286dead636d16fa0f diff --git a/src/AutoPilotPlugins/PX4/PX4FlightBehavior.cc b/src/AutoPilotPlugins/PX4/PX4FlightBehavior.cc index 50c6a19..1a852e8 100644 --- a/src/AutoPilotPlugins/PX4/PX4FlightBehavior.cc +++ b/src/AutoPilotPlugins/PX4/PX4FlightBehavior.cc @@ -64,11 +64,11 @@ QUrl PX4FlightBehavior::setupSource() const case MAV_TYPE_TRICOPTER: qmlFile = "qrc:/qml/PX4FlightBehaviorCopter.qml"; break; - case MAV_TYPE_VTOL_DUOROTOR: - case MAV_TYPE_VTOL_QUADROTOR: + case MAV_TYPE_VTOL_TAILSITTER_DUOROTOR: + case MAV_TYPE_VTOL_TAILSITTER_QUADROTOR: case MAV_TYPE_VTOL_TILTROTOR: - case MAV_TYPE_VTOL_RESERVED2: - case MAV_TYPE_VTOL_RESERVED3: + case MAV_TYPE_VTOL_FIXEDROTOR: + case MAV_TYPE_VTOL_TAILSITTER: case MAV_TYPE_VTOL_RESERVED4: case MAV_TYPE_VTOL_RESERVED5: qmlFile = ""; diff --git a/src/AutoPilotPlugins/PX4/PX4TuningComponent.cc b/src/AutoPilotPlugins/PX4/PX4TuningComponent.cc index 214b733..f2daf78 100644 --- a/src/AutoPilotPlugins/PX4/PX4TuningComponent.cc +++ b/src/AutoPilotPlugins/PX4/PX4TuningComponent.cc @@ -64,11 +64,11 @@ QUrl PX4TuningComponent::setupSource(void) const case MAV_TYPE_TRICOPTER: qmlFile = "qrc:/qml/PX4TuningComponentCopter.qml"; break; - case MAV_TYPE_VTOL_DUOROTOR: - case MAV_TYPE_VTOL_QUADROTOR: + case MAV_TYPE_VTOL_TAILSITTER_DUOROTOR: + case MAV_TYPE_VTOL_TAILSITTER_QUADROTOR: case MAV_TYPE_VTOL_TILTROTOR: - case MAV_TYPE_VTOL_RESERVED2: - case MAV_TYPE_VTOL_RESERVED3: + case MAV_TYPE_VTOL_FIXEDROTOR: + case MAV_TYPE_VTOL_TAILSITTER: case MAV_TYPE_VTOL_RESERVED4: case MAV_TYPE_VTOL_RESERVED5: qmlFile = "qrc:/qml/PX4TuningComponentVTOL.qml"; diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc index b1af785..9c9c94e 100644 --- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc +++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc @@ -471,11 +471,11 @@ void APMFirmwarePlugin::initializeVehicle(Vehicle* vehicle) case MAV_TYPE_HELICOPTER: vehicle->setFirmwareVersion(3, 6, 0); break; - case MAV_TYPE_VTOL_DUOROTOR: - case MAV_TYPE_VTOL_QUADROTOR: + case MAV_TYPE_VTOL_TAILSITTER_DUOROTOR: + case MAV_TYPE_VTOL_TAILSITTER_QUADROTOR: case MAV_TYPE_VTOL_TILTROTOR: - case MAV_TYPE_VTOL_RESERVED2: - case MAV_TYPE_VTOL_RESERVED3: + case MAV_TYPE_VTOL_FIXEDROTOR: + case MAV_TYPE_VTOL_TAILSITTER: case MAV_TYPE_VTOL_RESERVED4: case MAV_TYPE_VTOL_RESERVED5: case MAV_TYPE_FIXED_WING: @@ -671,11 +671,11 @@ QString APMFirmwarePlugin::_internalParameterMetaDataFile(Vehicle* vehicle) } return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.5.xml"); - case MAV_TYPE_VTOL_DUOROTOR: - case MAV_TYPE_VTOL_QUADROTOR: + case MAV_TYPE_VTOL_TAILSITTER_DUOROTOR: + case MAV_TYPE_VTOL_TAILSITTER_QUADROTOR: case MAV_TYPE_VTOL_TILTROTOR: - case MAV_TYPE_VTOL_RESERVED2: - case MAV_TYPE_VTOL_RESERVED3: + case MAV_TYPE_VTOL_FIXEDROTOR: + case MAV_TYPE_VTOL_TAILSITTER: case MAV_TYPE_VTOL_RESERVED4: case MAV_TYPE_VTOL_RESERVED5: case MAV_TYPE_FIXED_WING: diff --git a/src/FirmwarePlugin/APM/APMFirmwarePluginFactory.cc b/src/FirmwarePlugin/APM/APMFirmwarePluginFactory.cc index c2338c1..7f2cdef 100644 --- a/src/FirmwarePlugin/APM/APMFirmwarePluginFactory.cc +++ b/src/FirmwarePlugin/APM/APMFirmwarePluginFactory.cc @@ -46,11 +46,11 @@ FirmwarePlugin* APMFirmwarePluginFactory::firmwarePluginForAutopilot(MAV_AUTOPIL _arduCopterPluginInstance = new ArduCopterFirmwarePlugin; } return _arduCopterPluginInstance; - case MAV_TYPE_VTOL_DUOROTOR: - case MAV_TYPE_VTOL_QUADROTOR: + case MAV_TYPE_VTOL_TAILSITTER_DUOROTOR: + case MAV_TYPE_VTOL_TAILSITTER_QUADROTOR: case MAV_TYPE_VTOL_TILTROTOR: - case MAV_TYPE_VTOL_RESERVED2: - case MAV_TYPE_VTOL_RESERVED3: + case MAV_TYPE_VTOL_FIXEDROTOR: + case MAV_TYPE_VTOL_TAILSITTER: case MAV_TYPE_VTOL_RESERVED4: case MAV_TYPE_VTOL_RESERVED5: case MAV_TYPE_FIXED_WING: diff --git a/src/FirmwarePlugin/APM/APMParameterMetaData.cc b/src/FirmwarePlugin/APM/APMParameterMetaData.cc index 9bdfac2..78d23cc 100644 --- a/src/FirmwarePlugin/APM/APMParameterMetaData.cc +++ b/src/FirmwarePlugin/APM/APMParameterMetaData.cc @@ -85,11 +85,11 @@ QString APMParameterMetaData::mavTypeToString(MAV_TYPE vehicleTypeEnum) switch(vehicleTypeEnum) { case MAV_TYPE_FIXED_WING: - case MAV_TYPE_VTOL_DUOROTOR: - case MAV_TYPE_VTOL_QUADROTOR: + case MAV_TYPE_VTOL_TAILSITTER_DUOROTOR: + case MAV_TYPE_VTOL_TAILSITTER_QUADROTOR: case MAV_TYPE_VTOL_TILTROTOR: - case MAV_TYPE_VTOL_RESERVED2: - case MAV_TYPE_VTOL_RESERVED3: + case MAV_TYPE_VTOL_FIXEDROTOR: + case MAV_TYPE_VTOL_TAILSITTER: case MAV_TYPE_VTOL_RESERVED4: case MAV_TYPE_VTOL_RESERVED5: vehicleName = "ArduPlane"; diff --git a/src/MissionManager/MissionCommandTreeTest.cc b/src/MissionManager/MissionCommandTreeTest.cc index 80bb378..8ebeb5f 100644 --- a/src/MissionManager/MissionCommandTreeTest.cc +++ b/src/MissionManager/MissionCommandTreeTest.cc @@ -203,12 +203,12 @@ void MissionCommandTreeTest::testAllTrees(void) QList vehicleList; firmwareList << MAV_AUTOPILOT_GENERIC << MAV_AUTOPILOT_PX4 << MAV_AUTOPILOT_ARDUPILOTMEGA; - vehicleList << MAV_TYPE_GENERIC << MAV_TYPE_QUADROTOR << MAV_TYPE_FIXED_WING << MAV_TYPE_GROUND_ROVER << MAV_TYPE_SUBMARINE << MAV_TYPE_VTOL_QUADROTOR; + vehicleList << MAV_TYPE_GENERIC << MAV_TYPE_QUADROTOR << MAV_TYPE_FIXED_WING << MAV_TYPE_GROUND_ROVER << MAV_TYPE_SUBMARINE << MAV_TYPE_VTOL_TAILSITTER_QUADROTOR; // This will cause all of the variants of collapsed trees to be built for(MAV_AUTOPILOT firmwareType: firmwareList) { for (MAV_TYPE vehicleType: vehicleList) { - if (firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA && vehicleType == MAV_TYPE_VTOL_QUADROTOR) { + if (firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA && vehicleType == MAV_TYPE_VTOL_TAILSITTER_QUADROTOR) { // VTOL in ArduPilot shows up as plane so we can test this pair continue; } diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc index 55a03eb..d34e082 100644 --- a/src/Vehicle/Vehicle.cc +++ b/src/Vehicle/Vehicle.cc @@ -1809,12 +1809,12 @@ int Vehicle::motorCount() switch (_vehicleType) { case MAV_TYPE_HELICOPTER: return 1; - case MAV_TYPE_VTOL_DUOROTOR: + case MAV_TYPE_VTOL_TAILSITTER_DUOROTOR: return 2; case MAV_TYPE_TRICOPTER: return 3; case MAV_TYPE_QUADROTOR: - case MAV_TYPE_VTOL_QUADROTOR: + case MAV_TYPE_VTOL_TAILSITTER_QUADROTOR: return 4; case MAV_TYPE_HEXAROTOR: return 6; @@ -2431,11 +2431,11 @@ QString Vehicle::vehicleTypeName() const { { MAV_TYPE_FLAPPING_WING, tr("Flapping wing")}, { MAV_TYPE_KITE, tr("Flapping wing")}, { MAV_TYPE_ONBOARD_CONTROLLER, tr("Onboard companion controller")}, - { MAV_TYPE_VTOL_DUOROTOR, tr("Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter")}, - { MAV_TYPE_VTOL_QUADROTOR, tr("Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter")}, + { MAV_TYPE_VTOL_TAILSITTER_DUOROTOR, tr("Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter")}, + { MAV_TYPE_VTOL_TAILSITTER_QUADROTOR, tr("Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter")}, { MAV_TYPE_VTOL_TILTROTOR, tr("Tiltrotor VTOL")}, - { MAV_TYPE_VTOL_RESERVED2, tr("VTOL reserved 2")}, - { MAV_TYPE_VTOL_RESERVED3, tr("VTOL reserved 3")}, + { MAV_TYPE_VTOL_FIXEDROTOR, tr("VTOL Fixedrotor")}, + { MAV_TYPE_VTOL_TAILSITTER, tr("VTOL Tailsitter")}, { MAV_TYPE_VTOL_RESERVED4, tr("VTOL reserved 4")}, { MAV_TYPE_VTOL_RESERVED5, tr("VTOL reserved 5")}, { MAV_TYPE_GIMBAL, tr("Onboard gimbal")}, diff --git a/src/comm/MockLink.cc b/src/comm/MockLink.cc index 1659c21..9ac85c0 100644 --- a/src/comm/MockLink.cc +++ b/src/comm/MockLink.cc @@ -427,7 +427,7 @@ void MockLink::_sendSysStatus(void) 4200 * 4, // voltage_battery 8000, // current_battery _battery1PctRemaining, // battery_remaining - 0,0,0,0,0,0); + 0,0,0,0,0,0,0,0,0); respondWithMavlinkMessage(msg); } diff --git a/src/comm/QGCMAVLink.cc b/src/comm/QGCMAVLink.cc index 05b5eef..59f9240 100644 --- a/src/comm/QGCMAVLink.cc +++ b/src/comm/QGCMAVLink.cc @@ -125,11 +125,11 @@ QGCMAVLink::VehicleClass_t QGCMAVLink::vehicleClass(MAV_TYPE mavType) case MAV_TYPE_OCTOROTOR: case MAV_TYPE_TRICOPTER: return VehicleClassMultiRotor; - case MAV_TYPE_VTOL_DUOROTOR: - case MAV_TYPE_VTOL_QUADROTOR: + case MAV_TYPE_VTOL_TAILSITTER_DUOROTOR: + case MAV_TYPE_VTOL_TAILSITTER_QUADROTOR: case MAV_TYPE_VTOL_TILTROTOR: - case MAV_TYPE_VTOL_RESERVED2: - case MAV_TYPE_VTOL_RESERVED3: + case MAV_TYPE_VTOL_FIXEDROTOR: + case MAV_TYPE_VTOL_TAILSITTER: case MAV_TYPE_VTOL_RESERVED4: case MAV_TYPE_VTOL_RESERVED5: return VehicleClassVTOL; diff --git a/src/comm/QGCMAVLink.h b/src/comm/QGCMAVLink.h index da8b581..8786aa3 100644 --- a/src/comm/QGCMAVLink.h +++ b/src/comm/QGCMAVLink.h @@ -68,7 +68,7 @@ public: static constexpr VehicleClass_t VehicleClassRoverBoat = MAV_TYPE_GROUND_ROVER; static constexpr VehicleClass_t VehicleClassSub = MAV_TYPE_SUBMARINE; static constexpr VehicleClass_t VehicleClassMultiRotor = MAV_TYPE_QUADROTOR; - static constexpr VehicleClass_t VehicleClassVTOL = MAV_TYPE_VTOL_QUADROTOR; + static constexpr VehicleClass_t VehicleClassVTOL = MAV_TYPE_VTOL_TAILSITTER_QUADROTOR; static constexpr VehicleClass_t VehicleClassGeneric = MAV_TYPE_GENERIC; static bool isPX4FirmwareClass (MAV_AUTOPILOT autopilot) { return autopilot == MAV_AUTOPILOT_PX4; }