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Expose sensor status to Qml

QGC4.4
DonLakeFlyer 7 years ago
parent
535ff2ab69
commit
58afdad9d9
2 changed files with 52 additions and 3 deletions
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  1. 15
      src/Vehicle/Vehicle.cc
  2. 40
      src/Vehicle/Vehicle.h

15
src/Vehicle/Vehicle.cc
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@ -1278,9 +1278,18 @@ void Vehicle::_handleSysStatus(mavlink_message_t& message) @@ -1278,9 +1278,18 @@ void Vehicle::_handleSysStatus(mavlink_message_t& message)
_lastAnnouncedLowBatteryPercent = sysStatus.battery_remaining;
}
_onboardControlSensorsPresent = sysStatus.onboard_control_sensors_present;
_onboardControlSensorsEnabled = sysStatus.onboard_control_sensors_enabled;
_onboardControlSensorsHealth = sysStatus.onboard_control_sensors_health;
if (_onboardControlSensorsPresent != sysStatus.onboard_control_sensors_present) {
_onboardControlSensorsPresent = sysStatus.onboard_control_sensors_present;
emit sensorsPresentBitsChanged(_onboardControlSensorsPresent);
}
if (_onboardControlSensorsEnabled != sysStatus.onboard_control_sensors_enabled) {
_onboardControlSensorsEnabled = sysStatus.onboard_control_sensors_enabled;
emit sensorsEnabledBitsChanged(_onboardControlSensorsEnabled);
}
if (_onboardControlSensorsHealth != sysStatus.onboard_control_sensors_health) {
_onboardControlSensorsHealth = sysStatus.onboard_control_sensors_health;
emit sensorsHealthBitsChanged(_onboardControlSensorsHealth);
}
// ArduPilot firmare has a strange case when ARMING_REQUIRE=0. This means the vehicle is always armed but the motors are not
// really powered up until the safety button is pressed. Because of this we can't depend on the heartbeat to tell us the true

40
src/Vehicle/Vehicle.h
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@ -375,6 +375,37 @@ public: @@ -375,6 +375,37 @@ public:
~Vehicle();
/// Sensor bits from sensors*Bits properties
enum MavlinkSysStatus {
SysStatusSensor3dGyro = MAV_SYS_STATUS_SENSOR_3D_GYRO,
SysStatusSensor3dAccel = MAV_SYS_STATUS_SENSOR_3D_ACCEL,
SysStatusSensor3dMag = MAV_SYS_STATUS_SENSOR_3D_MAG,
SysStatusSensorAsolutePressure = MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE,
SysStatusSensorDifferentialPressure = MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE,
SysStatusSensorGPS = MAV_SYS_STATUS_SENSOR_GPS,
SysStatusSensorOpticalFlow = MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW,
SysStatusSensorVisionPosition = MAV_SYS_STATUS_SENSOR_VISION_POSITION,
SysStatusSensorLaserPosition = MAV_SYS_STATUS_SENSOR_LASER_POSITION,
SysStatusSensorExternalGroundTruth = MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH,
SysStatusSensorAngularRateControl = MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL,
SysStatusSensorAttitudeStabilization = MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION,
SysStatusSensorYawPosition = MAV_SYS_STATUS_SENSOR_YAW_POSITION,
SysStatusSensorZAltitudeControl = MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL,
SysStatusSensorXYPositionControl = MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL,
SysStatusSensorMotorOutputs = MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS,
SysStatusSensorRCReceiver = MAV_SYS_STATUS_SENSOR_RC_RECEIVER,
SysStatusSensor3dGyro2 = MAV_SYS_STATUS_SENSOR_3D_GYRO2,
SysStatusSensor3dAccel2 = MAV_SYS_STATUS_SENSOR_3D_ACCEL2,
SysStatusSensor3dMag2 = MAV_SYS_STATUS_SENSOR_3D_MAG2,
SysStatusSensorGeoFence = MAV_SYS_STATUS_GEOFENCE,
SysStatusSensorAHRS = MAV_SYS_STATUS_AHRS,
SysStatusSensorTerrain = MAV_SYS_STATUS_TERRAIN,
SysStatusSensorReverseMotor = MAV_SYS_STATUS_REVERSE_MOTOR,
SysStatusSensorLogging = MAV_SYS_STATUS_LOGGING,
SysStatusSensorBattery = MAV_SYS_STATUS_SENSOR_BATTERY,
};
Q_ENUM(MavlinkSysStatus)
Q_PROPERTY(int id READ id CONSTANT)
Q_PROPERTY(AutoPilotPlugin* autopilot MEMBER _autopilotPlugin CONSTANT)
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate NOTIFY coordinateChanged)
@ -432,6 +463,9 @@ public: @@ -432,6 +463,9 @@ public:
Q_PROPERTY(QString brandImageIndoor READ brandImageIndoor NOTIFY firmwareTypeChanged)
Q_PROPERTY(QString brandImageOutdoor READ brandImageOutdoor NOTIFY firmwareTypeChanged)
Q_PROPERTY(QStringList unhealthySensors READ unhealthySensors NOTIFY unhealthySensorsChanged)
Q_PROPERTY(int sensorsPresentBits READ sensorsPresentBits NOTIFY sensorsPresentBitsChanged)
Q_PROPERTY(int sensorsEnabledBits READ sensorsEnabledBits NOTIFY sensorsEnabledBitsChanged)
Q_PROPERTY(int sensorsHealthBits READ sensorsHealthBits NOTIFY sensorsHealthBitsChanged)
Q_PROPERTY(QString missionFlightMode READ missionFlightMode CONSTANT)
Q_PROPERTY(QString pauseFlightMode READ pauseFlightMode CONSTANT)
Q_PROPERTY(QString rtlFlightMode READ rtlFlightMode CONSTANT)
@ -732,6 +766,9 @@ public: @@ -732,6 +766,9 @@ public:
QString brandImageIndoor () const;
QString brandImageOutdoor () const;
QStringList unhealthySensors () const;
int sensorsPresentBits () const { return _onboardControlSensorsPresent; }
int sensorsEnabledBits () const { return _onboardControlSensorsEnabled; }
int sensorsHealthBits () const { return _onboardControlSensorsHealth; }
QString missionFlightMode () const;
QString pauseFlightMode () const;
QString rtlFlightMode () const;
@ -931,6 +968,9 @@ signals: @@ -931,6 +968,9 @@ signals:
void telemetryRNoiseChanged (int value);
void autoDisarmChanged (void);
void flightModesChanged (void);
void sensorsPresentBitsChanged (int sensorsPresentBits);
void sensorsEnabledBitsChanged (int sensorsEnabledBits);
void sensorsHealthBitsChanged (int sensorsHealthBits);
void firmwareVersionChanged(void);
void firmwareCustomVersionChanged(void);

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