Don Gagne
11 years ago
9 changed files with 2408 additions and 2 deletions
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/*=====================================================================
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QGroundControl Open Source Ground Control Station |
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(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project |
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/ |
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#include "MockLink.h" |
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#include <QTimer> |
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#include <QDebug> |
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#include <QFile> |
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#include "LinkManager.h" |
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#include <string.h> |
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/// @file
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/// @brief Mock implementation of a Link.
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///
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/// @author Don Gagne <don@thegagnes.com>
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MockLink::MockLink(void) : |
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_linkId(getNextLinkId()), |
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_name("MockLink"), |
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_connected(false), |
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_vehicleSystemId(128), // FIXME: Pull from eventual parameter manager
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_vehicleComponentId(200), // FIXME: magic number?
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_inNSH(false), |
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_mavlinkStarted(false), |
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_mavMode(MAV_MODE_FLAG_MANUAL_INPUT_ENABLED), |
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_mavState(MAV_STATE_STANDBY) |
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{ |
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_missionItemHandler = new MockLinkMissionItemHandler(_vehicleSystemId, this); |
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Q_CHECK_PTR(_missionItemHandler); |
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moveToThread(this); |
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_loadParams(); |
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QObject::connect(this, &MockLink::_incomingBytes, this, &MockLink::_handleIncomingBytes); |
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LinkManager::instance()->add(this); |
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} |
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MockLink::~MockLink(void) |
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{ |
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disconnect(); |
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deleteLater(); |
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} |
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void MockLink::readBytes(void) |
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{ |
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// FIXME: This is a bad virtual from LinkInterface?
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} |
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bool MockLink::connect(void) |
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{ |
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_connected = true; |
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start(); |
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emit connected(); |
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emit connected(true); |
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return true; |
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} |
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bool MockLink::disconnect(void) |
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{ |
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_connected = false; |
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exit(); |
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emit disconnected(); |
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emit connected(false); |
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return true; |
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} |
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void MockLink::run(void) |
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{ |
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QTimer _timer1HzTasks; |
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QTimer _timer10HzTasks; |
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QTimer _timer50HzTasks; |
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QObject::connect(&_timer1HzTasks, &QTimer::timeout, this, &MockLink::_run1HzTasks); |
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QObject::connect(&_timer10HzTasks, &QTimer::timeout, this, &MockLink::_run10HzTasks); |
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QObject::connect(&_timer50HzTasks, &QTimer::timeout, this, &MockLink::_run50HzTasks); |
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_timer1HzTasks.start(1000); |
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_timer10HzTasks.start(100); |
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_timer50HzTasks.start(20); |
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exec(); |
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emit disconnected(); |
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emit connected(false); |
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} |
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void MockLink::_run1HzTasks(void) |
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{ |
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if (_mavlinkStarted) { |
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_sendHeartBeat(); |
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} |
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} |
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void MockLink::_run10HzTasks(void) |
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{ |
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if (_mavlinkStarted) { |
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} |
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} |
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void MockLink::_run50HzTasks(void) |
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{ |
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if (_mavlinkStarted) { |
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} |
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} |
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void MockLink::_loadParams(void) |
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{ |
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QFile paramFile(":/unittest/MockLink.param"); |
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bool success = paramFile.open(QFile::ReadOnly); |
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Q_UNUSED(success); |
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Q_ASSERT(success); |
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QTextStream paramStream(¶mFile); |
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while (!paramStream.atEnd()) { |
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QString line = paramStream.readLine(); |
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if (line.startsWith("#")) { |
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continue; |
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} |
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QStringList paramData = line.split("\t"); |
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Q_ASSERT(paramData.count() == 5); |
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QString paramName = paramData.at(2); |
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QString valStr = paramData.at(3); |
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uint paramType = paramData.at(4).toUInt(); |
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QVariant paramValue; |
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switch (paramType) { |
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case MAV_PARAM_TYPE_REAL32: |
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paramValue = QVariant(valStr.toFloat()); |
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break; |
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case MAV_PARAM_TYPE_UINT32: |
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paramValue = QVariant(valStr.toUInt()); |
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break; |
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case MAV_PARAM_TYPE_INT32: |
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paramValue = QVariant(valStr.toInt()); |
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break; |
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case MAV_PARAM_TYPE_INT8: |
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paramValue = QVariant((unsigned char)valStr.toUInt()); |
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break; |
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default: |
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Q_ASSERT(false); |
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break; |
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} |
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_parameters[paramName] = paramValue; |
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} |
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_cParameters = _parameters.count(); |
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} |
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void MockLink::_sendHeartBeat(void) |
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{ |
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mavlink_message_t msg; |
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uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
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mavlink_msg_heartbeat_pack(_vehicleSystemId, |
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_vehicleComponentId, |
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&msg, |
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MAV_TYPE_QUADROTOR, // MAV_TYPE
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MAV_AUTOPILOT_PX4, // MAV_AUTOPILOT
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_mavMode, // MAV_MODE
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0, // custom mode
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_mavState); // MAV_STATE
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int cBuffer = mavlink_msg_to_send_buffer(buffer, &msg); |
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QByteArray bytes((char *)buffer, cBuffer); |
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emit bytesReceived(this, bytes); |
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} |
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/// @brief Called when QGC wants to write bytes to the MAV
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void MockLink::writeBytes(const char* bytes, qint64 cBytes) |
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{ |
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// Package up the data so we can signal it over to the right thread
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QByteArray byteArray(bytes, cBytes); |
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emit _incomingBytes(byteArray); |
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} |
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/// @brief Handles bytes from QGC on the thread
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void MockLink::_handleIncomingBytes(const QByteArray bytes) |
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{ |
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if (_inNSH) { |
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_handleIncomingNSHBytes(bytes.constData(), bytes.count()); |
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} else { |
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if (bytes.startsWith(QByteArray("\r\r\r"))) { |
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_inNSH = true; |
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_handleIncomingNSHBytes(&bytes.constData()[3], bytes.count() - 3); |
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} |
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_handleIncomingMavlinkBytes((uint8_t *)bytes.constData(), bytes.count()); |
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} |
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} |
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/// @brief Handle incoming bytes which are meant to be interpreted by the NuttX shell
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void MockLink::_handleIncomingNSHBytes(const char* bytes, int cBytes) |
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{ |
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Q_UNUSED(cBytes); |
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// Drop back out of NSH
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if (cBytes == 4 && bytes[0] == '\r' && bytes[1] == '\r' && bytes[2] == '\r') { |
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_inNSH = false; |
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return; |
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} |
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if (cBytes > 0) { |
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qDebug() << "NSH:" << (const char*)bytes; |
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if (strncmp(bytes, "sh /etc/init.d/rc.usb\n", cBytes) == 0) { |
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// This is the mavlink start command
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_mavlinkStarted = true; |
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} |
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} |
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} |
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/// @brief Handle incoming bytes which are meant to be handled by the mavlink protocol
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void MockLink::_handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes) |
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{ |
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mavlink_message_t msg; |
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mavlink_status_t comm; |
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for (qint64 i=0; i<cBytes; i++) |
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{ |
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if (!mavlink_parse_char(_linkId, bytes[i], &msg, &comm)) { |
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continue; |
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} |
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Q_ASSERT(_missionItemHandler); |
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_missionItemHandler->handleMessage(msg); |
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switch (msg.msgid) { |
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case MAVLINK_MSG_ID_HEARTBEAT: |
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_handleHeartBeat(msg); |
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break; |
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case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: |
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_handleParamRequestList(msg); |
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break; |
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case MAVLINK_MSG_ID_SET_MODE: |
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_handleSetMode(msg); |
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break; |
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case MAVLINK_MSG_ID_PARAM_SET: |
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_handleParamSet(msg); |
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break; |
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case MAVLINK_MSG_ID_PARAM_REQUEST_READ: |
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_handleParamRequestRead(msg); |
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break; |
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case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: |
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_handleMissionRequestList(msg); |
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break; |
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case MAVLINK_MSG_ID_MISSION_REQUEST: |
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_handleMissionRequest(msg); |
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break; |
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case MAVLINK_MSG_ID_MISSION_ITEM: |
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_handleMissionItem(msg); |
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break; |
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#if 0 |
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case MAVLINK_MSG_ID_MISSION_COUNT: |
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_handleMissionCount(msg); |
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break; |
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#endif |
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default: |
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qDebug() << "MockLink: Unhandled mavlink message, id:" << msg.msgid; |
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break; |
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} |
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} |
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} |
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void MockLink::_emitMavlinkMessage(const mavlink_message_t& msg) |
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{ |
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uint8_t outputBuffer[MAVLINK_MAX_PACKET_LEN]; |
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int cBuffer = mavlink_msg_to_send_buffer(outputBuffer, &msg); |
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QByteArray bytes((char *)outputBuffer, cBuffer); |
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emit bytesReceived(this, bytes); |
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} |
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void MockLink::_handleHeartBeat(const mavlink_message_t& msg) |
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{ |
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Q_UNUSED(msg); |
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#if 0 |
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mavlink_heartbeat_t heartbeat; |
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mavlink_msg_heartbeat_decode(&msg, &heartbeat); |
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#endif |
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} |
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void MockLink::_handleSetMode(const mavlink_message_t& msg) |
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{ |
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mavlink_set_mode_t request; |
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mavlink_msg_set_mode_decode(&msg, &request); |
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if (request.target_system == _vehicleSystemId) { |
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_mavMode = request.base_mode; |
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} else { |
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_errorInvalidTargetSystem(request.target_system); |
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} |
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} |
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void MockLink::_errorInvalidTargetSystem(int targetId) |
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{ |
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QString errMsg("MSG_ID_SET_MODE received incorrect target system: actual(%1) expected(%2)"); |
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emit error(errMsg.arg(targetId).arg(_vehicleSystemId)); |
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} |
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void MockLink::_handleParamRequestList(const mavlink_message_t& msg) |
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{ |
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mavlink_param_request_list_t request; |
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mavlink_msg_param_request_list_decode(&msg, &request); |
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uint16_t paramIndex = 0; |
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if (request.target_system == _vehicleSystemId) { |
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ParamMap_t::iterator param; |
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for (param = _parameters.begin(); param != _parameters.end(); param++) { |
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mavlink_message_t responseMsg; |
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mavlink_msg_param_value_pack(_vehicleSystemId, |
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_vehicleComponentId, |
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&responseMsg, // Outgoing message
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param.key().toLocal8Bit().constData(), // Parameter name
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param.value().toFloat(), // Parameter vluae
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MAV_PARAM_TYPE_REAL32, // FIXME: Pull from QVariant type
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_cParameters, // Total number of parameters
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paramIndex++); // Index of this parameter
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_emitMavlinkMessage(responseMsg); |
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} |
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} else { |
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_errorInvalidTargetSystem(request.target_system); |
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} |
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} |
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void MockLink::_handleParamSet(const mavlink_message_t& msg) |
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{ |
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mavlink_param_set_t request; |
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mavlink_msg_param_set_decode(&msg, &request); |
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if (request.target_system == _vehicleSystemId) { |
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// Param may not be null terminated if exactly fits
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char paramId[MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN + 1]; |
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strncpy(paramId, request.param_id, MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN); |
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if (_parameters.contains(paramId)) |
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{ |
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_parameters[paramId] = request.param_value; |
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mavlink_message_t responseMsg; |
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mavlink_msg_param_value_pack(_vehicleSystemId, |
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_vehicleComponentId, |
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&responseMsg, // Outgoing message
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paramId, // Parameter name
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request.param_value, // Parameter vluae
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MAV_PARAM_TYPE_REAL32, // FIXME: Pull from QVariant type
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_cParameters, // Total number of parameters
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_parameters.keys().indexOf(paramId)); // Index of this parameter
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_emitMavlinkMessage(responseMsg); |
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} else { |
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QString errMsg("MSG_ID_PARAM_SET requested unknown param id (%1)"); |
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emit error(errMsg.arg(paramId)); |
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} |
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} else { |
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_errorInvalidTargetSystem(request.target_system); |
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} |
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} |
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void MockLink::_handleParamRequestRead(const mavlink_message_t& msg) |
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{ |
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mavlink_param_request_read_t request; |
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mavlink_msg_param_request_read_decode(&msg, &request); |
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char paramId[MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN + 1]; |
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paramId[0] = 0; |
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if (request.target_system == _vehicleSystemId) { |
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if (request.param_index == -1) { |
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// Request is by param name. Param may not be null terminated if exactly fits
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strncpy(paramId, request.param_id, MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN); |
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} else { |
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if (request.param_index >= 0 && request.param_index < _cParameters) { |
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// Request is by index
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QString key = _parameters.keys().at(request.param_index); |
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Q_ASSERT(key.length() <= MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN); |
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strcpy(paramId, key.toLocal8Bit().constData()); |
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} else { |
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QString errMsg("MSG_ID_PARAM_REQUEST_READ requested unknown index: requested(%1) count(%2)"); |
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emit error(errMsg.arg(request.param_index).arg(_cParameters)); |
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} |
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} |
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if (paramId[0] && _parameters.contains(paramId)) { |
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float paramValue = _parameters[paramId].toFloat(); |
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mavlink_message_t responseMsg; |
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mavlink_msg_param_value_pack(_vehicleSystemId, |
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_vehicleComponentId, |
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&responseMsg, // Outgoing message
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paramId, // Parameter name
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paramValue, // Parameter vluae
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MAV_PARAM_TYPE_REAL32, // FIXME: Pull from QVariant type
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_cParameters, // Total number of parameters
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_parameters.keys().indexOf(paramId)); // Index of this parameter
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_emitMavlinkMessage(responseMsg); |
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} |
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} else { |
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_errorInvalidTargetSystem(request.target_system); |
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} |
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} |
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void MockLink::_handleMissionRequestList(const mavlink_message_t& msg) |
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{ |
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mavlink_mission_request_list_t request; |
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mavlink_msg_mission_request_list_decode(&msg, &request); |
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if (request.target_system == _vehicleSystemId) { |
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mavlink_message_t responseMsg; |
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mavlink_msg_mission_count_pack(_vehicleSystemId, |
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_vehicleComponentId, |
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&responseMsg, // Outgoing message
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msg.sysid, // Target is original sender
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msg.compid, // Target is original sender
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_missionItems.count()); // Number of mission items
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_emitMavlinkMessage(responseMsg); |
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} else { |
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_errorInvalidTargetSystem(request.target_system); |
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} |
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} |
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void MockLink::_handleMissionRequest(const mavlink_message_t& msg) |
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{ |
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mavlink_mission_request_t request; |
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mavlink_msg_mission_request_decode(&msg, &request); |
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if (request.target_system == _vehicleSystemId) { |
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if (request.seq >= 0 && request.seq < _missionItems.count()) { |
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mavlink_message_t responseMsg; |
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mavlink_mission_item_t item = _missionItems[request.seq]; |
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mavlink_msg_mission_item_pack(_vehicleSystemId, |
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_vehicleComponentId, |
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&responseMsg, // Outgoing message
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msg.sysid, // Target is original sender
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msg.compid, // Target is original sender
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request.seq, // Index of mission item being sent
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item.frame, |
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item.command, |
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item.current, |
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item.autocontinue, |
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item.param1, item.param2, item.param3, item.param4, |
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item.x, item.y, item.z); |
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_emitMavlinkMessage(responseMsg); |
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} else { |
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QString errMsg("MSG_ID_MISSION_REQUEST requested unknown sequence number: requested(%1) count(%2)"); |
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emit error(errMsg.arg(request.seq).arg(_missionItems.count())); |
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} |
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} else { |
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_errorInvalidTargetSystem(request.target_system); |
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} |
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} |
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void MockLink::_handleMissionItem(const mavlink_message_t& msg) |
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{ |
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mavlink_mission_item_t request; |
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mavlink_msg_mission_item_decode(&msg, &request); |
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if (request.target_system == _vehicleSystemId) { |
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// FIXME: What do you do with duplication sequence numbers?
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Q_ASSERT(!_missionItems.contains(request.seq)); |
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_missionItems[request.seq] = request; |
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} else { |
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_errorInvalidTargetSystem(request.target_system); |
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} |
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} |
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@ -0,0 +1,118 @@
@@ -0,0 +1,118 @@
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/*=====================================================================
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|
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QGroundControl Open Source Ground Control Station |
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|
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(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||
|
||||
This file is part of the QGROUNDCONTROL project |
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|
||||
QGROUNDCONTROL is free software: you can redistribute it and/or modify |
||||
it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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|
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You should have received a copy of the GNU General Public License |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
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======================================================================*/ |
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#ifndef MOCKLINK_H |
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#define MOCKLINK_H |
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#include <QMap> |
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#include "MockLinkMissionItemHandler.h" |
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#include "LinkInterface.h" |
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#include "mavlink.h" |
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/// @file
|
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/// @brief Mock implementation of a Link.
|
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///
|
||||
/// @author Don Gagne <don@thegagnes.com>
|
||||
|
||||
class MockLink : public LinkInterface |
||||
{ |
||||
Q_OBJECT |
||||
|
||||
public: |
||||
MockLink(void); |
||||
~MockLink(void); |
||||
|
||||
// Virtuals from LinkInterface
|
||||
virtual int getId(void) const { return _linkId; } |
||||
virtual QString getName(void) const { return _name; } |
||||
virtual void requestReset(void){ } |
||||
virtual bool isConnected(void) const { return _connected; } |
||||
virtual qint64 getConnectionSpeed(void) const { return 100000000; } |
||||
virtual bool connect(void); |
||||
virtual bool disconnect(void); |
||||
virtual qint64 bytesAvailable(void) { return 0; } |
||||
|
||||
signals: |
||||
void error(const QString& errorMsg); |
||||
|
||||
/// @brief Used internally to move data to the thread.
|
||||
void _incomingBytes(const QByteArray bytes); |
||||
|
||||
public slots: |
||||
virtual void writeBytes(const char *bytes, qint64 cBytes); |
||||
|
||||
protected slots: |
||||
// FIXME: This should not be part of LinkInterface. It is an internal link implementation detail.
|
||||
virtual void readBytes(void); |
||||
|
||||
private slots: |
||||
void _run1HzTasks(void); |
||||
void _run10HzTasks(void); |
||||
void _run50HzTasks(void); |
||||
|
||||
private: |
||||
// QThread override
|
||||
virtual void run(void); |
||||
|
||||
// MockLink methods
|
||||
void _sendHeartBeat(void); |
||||
void _handleIncomingBytes(const QByteArray bytes); |
||||
void _handleIncomingNSHBytes(const char* bytes, int cBytes); |
||||
void _handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes); |
||||
void _loadParams(void); |
||||
void _errorInvalidTargetSystem(int targetId); |
||||
void _emitMavlinkMessage(const mavlink_message_t& msg); |
||||
void _handleHeartBeat(const mavlink_message_t& msg); |
||||
void _handleSetMode(const mavlink_message_t& msg); |
||||
void _handleParamRequestList(const mavlink_message_t& msg); |
||||
void _handleParamSet(const mavlink_message_t& msg); |
||||
void _handleParamRequestRead(const mavlink_message_t& msg); |
||||
void _handleMissionRequestList(const mavlink_message_t& msg); |
||||
void _handleMissionRequest(const mavlink_message_t& msg); |
||||
void _handleMissionItem(const mavlink_message_t& msg); |
||||
|
||||
MockLinkMissionItemHandler* _missionItemHandler; |
||||
|
||||
int _linkId; |
||||
QString _name; |
||||
bool _connected; |
||||
|
||||
uint8_t _vehicleSystemId; |
||||
uint8_t _vehicleComponentId; |
||||
|
||||
bool _inNSH; |
||||
bool _mavlinkStarted; |
||||
|
||||
typedef QMap<QString, QVariant> ParamMap_t; |
||||
ParamMap_t _parameters; |
||||
uint16_t _cParameters; |
||||
|
||||
typedef QMap<uint16_t, mavlink_mission_item_t> MissionList_t; |
||||
MissionList_t _missionItems; |
||||
|
||||
uint8_t _mavMode; |
||||
uint8_t _mavState; |
||||
}; |
||||
|
||||
#endif |
||||
@ -0,0 +1,438 @@
@@ -0,0 +1,438 @@
|
||||
# Onboard parameters for system MAV 001 |
||||
# |
||||
# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT) |
||||
1 50 ATT_ACC_COMP 2 6 |
||||
1 50 ATT_MAG_DECL 0 9 |
||||
1 50 BAT_CAPACITY -1 9 |
||||
1 50 BAT_C_SCALING 0.0124 9 |
||||
1 50 BAT_N_CELLS 3 6 |
||||
1 50 BAT_V_CHARGED 4.2 9 |
||||
1 50 BAT_V_EMPTY 3.4 9 |
||||
1 50 BAT_V_LOAD_DROP 0.07 9 |
||||
1 50 BAT_V_SCALE_IO 10000 6 |
||||
1 50 BAT_V_SCALING 0.0082 9 |
||||
1 50 BD_GPROPERTIES 0.03 9 |
||||
1 50 BD_OBJ_CD 0.1 9 |
||||
1 50 BD_OBJ_MASS 0.6 9 |
||||
1 50 BD_OBJ_SURFACE 0.00311725 9 |
||||
1 50 BD_PRECISION 30 9 |
||||
1 50 BD_TURNRADIUS 120 9 |
||||
1 50 CBRK_AIRSPD_CHK 0 6 |
||||
1 50 CBRK_ENGINEFAIL 284953 6 |
||||
1 50 CBRK_FLIGHTTERM 121212 6 |
||||
1 50 CBRK_GPSFAIL 240024 6 |
||||
1 50 CBRK_IO_SAFETY 0 6 |
||||
1 50 CBRK_NO_VISION 0 6 |
||||
1 50 CBRK_RATE_CTRL 0 6 |
||||
1 50 CBRK_SUPPLY_CHK 0 6 |
||||
1 50 COM_DL_LOSS_EN 0 6 |
||||
1 50 COM_DL_LOSS_T 10 6 |
||||
1 50 COM_DL_REG_T 0 6 |
||||
1 50 COM_EF_C2T 5 9 |
||||
1 50 COM_EF_THROT 0.5 9 |
||||
1 50 COM_EF_TIME 10 9 |
||||
1 50 COM_RC_LOSS_T 0.5 9 |
||||
1 50 EKF_ATT_V3_Q0 0.0001 9 |
||||
1 50 EKF_ATT_V3_Q1 0.08 9 |
||||
1 50 EKF_ATT_V3_Q2 0.009 9 |
||||
1 50 EKF_ATT_V3_Q3 0.005 9 |
||||
1 50 EKF_ATT_V3_Q4 0 9 |
||||
1 50 EKF_ATT_V4_R0 0.0008 9 |
||||
1 50 EKF_ATT_V4_R1 10000 9 |
||||
1 50 EKF_ATT_V4_R2 100 9 |
||||
1 50 EKF_ATT_V4_R3 0 9 |
||||
1 50 FPE_DEBUG 0 6 |
||||
1 50 FPE_LO_THRUST 0.4 9 |
||||
1 50 FPE_SONAR_LP_L 0.2 9 |
||||
1 50 FPE_SONAR_LP_U 0.5 9 |
||||
1 50 FW_AIRSPD_MAX 50 9 |
||||
1 50 FW_AIRSPD_MIN 13 9 |
||||
1 50 FW_AIRSPD_TRIM 20 9 |
||||
1 50 FW_ATT_TC 0.5 9 |
||||
1 50 FW_CLMBOUT_DIFF 25 9 |
||||
1 50 FW_FLARE_PMAX 15 9 |
||||
1 50 FW_FLARE_PMIN 2.5 9 |
||||
1 50 FW_L1_DAMPING 0.75 9 |
||||
1 50 FW_L1_PERIOD 25 9 |
||||
1 50 FW_LND_ANG 5 9 |
||||
1 50 FW_LND_FLALT 8 9 |
||||
1 50 FW_LND_HHDIST 15 9 |
||||
1 50 FW_LND_HVIRT 10 9 |
||||
1 50 FW_LND_TLALT -1 9 |
||||
1 50 FW_LND_USETER 0 6 |
||||
1 50 FW_MAN_P_MAX 45 9 |
||||
1 50 FW_MAN_R_MAX 45 9 |
||||
1 50 FW_PR_FF 0.4 9 |
||||
1 50 FW_PR_I 0 9 |
||||
1 50 FW_PR_IMAX 0.2 9 |
||||
1 50 FW_PR_P 0.05 9 |
||||
1 50 FW_PSP_OFF 0 9 |
||||
1 50 FW_P_LIM_MAX 45 9 |
||||
1 50 FW_P_LIM_MIN -45 9 |
||||
1 50 FW_P_RMAX_NEG 0 9 |
||||
1 50 FW_P_RMAX_POS 0 9 |
||||
1 50 FW_P_ROLLFF 0 9 |
||||
1 50 FW_RR_FF 0.3 9 |
||||
1 50 FW_RR_I 0 9 |
||||
1 50 FW_RR_IMAX 0.2 9 |
||||
1 50 FW_RR_P 0.05 9 |
||||
1 50 FW_RSP_OFF 0 9 |
||||
1 50 FW_R_LIM 45 9 |
||||
1 50 FW_R_RMAX 0 9 |
||||
1 50 FW_THR_CRUISE 0.7 9 |
||||
1 50 FW_THR_LND_MAX 1 9 |
||||
1 50 FW_THR_MAX 1 9 |
||||
1 50 FW_THR_MIN 0 9 |
||||
1 50 FW_THR_SLEW_MAX 0 9 |
||||
1 50 FW_T_CLMB_MAX 5 9 |
||||
1 50 FW_T_HGT_OMEGA 3 9 |
||||
1 50 FW_T_HRATE_FF 0 9 |
||||
1 50 FW_T_HRATE_P 0.05 9 |
||||
1 50 FW_T_INTEG_GAIN 0.1 9 |
||||
1 50 FW_T_PTCH_DAMP 0 9 |
||||
1 50 FW_T_RLL2THR 10 9 |
||||
1 50 FW_T_SINK_MAX 5 9 |
||||
1 50 FW_T_SINK_MIN 2 9 |
||||
1 50 FW_T_SPDWEIGHT 1 9 |
||||
1 50 FW_T_SPD_OMEGA 2 9 |
||||
1 50 FW_T_SRATE_P 0.05 9 |
||||
1 50 FW_T_THRO_CONST 8 9 |
||||
1 50 FW_T_THR_DAMP 0.5 9 |
||||
1 50 FW_T_TIME_CONST 5 9 |
||||
1 50 FW_T_VERT_ACC 7 9 |
||||
1 50 FW_YCO_VMIN 1000 9 |
||||
1 50 FW_YR_FF 0.3 9 |
||||
1 50 FW_YR_I 0 9 |
||||
1 50 FW_YR_IMAX 0.2 9 |
||||
1 50 FW_YR_P 0.05 9 |
||||
1 50 FW_Y_RMAX 0 9 |
||||
1 50 GF_ALTMODE 0 6 |
||||
1 50 GF_COUNT -1 6 |
||||
1 50 GF_ON 1 6 |
||||
1 50 GF_SOURCE 0 6 |
||||
1 50 INAV_DELAY_GPS 0.2 9 |
||||
1 50 INAV_FLOW_K 0.15 9 |
||||
1 50 INAV_FLOW_Q_MIN 0.5 9 |
||||
1 50 INAV_LAND_DISP 0.7 9 |
||||
1 50 INAV_LAND_T 3 9 |
||||
1 50 INAV_LAND_THR 0.2 9 |
||||
1 50 INAV_SONAR_ERR 0.5 9 |
||||
1 50 INAV_SONAR_FILT 0.05 9 |
||||
1 50 INAV_W_ACC_BIAS 0.05 9 |
||||
1 50 INAV_W_GPS_FLOW 0.1 9 |
||||
1 50 INAV_W_XY_FLOW 5 9 |
||||
1 50 INAV_W_XY_GPS_P 1 9 |
||||
1 50 INAV_W_XY_GPS_V 2 9 |
||||
1 50 INAV_W_XY_RES_V 0.5 9 |
||||
1 50 INAV_W_XY_VIS_P 5 9 |
||||
1 50 INAV_W_XY_VIS_V 0 9 |
||||
1 50 INAV_W_Z_BARO 0.5 9 |
||||
1 50 INAV_W_Z_GPS_P 0.005 9 |
||||
1 50 INAV_W_Z_SONAR 3 9 |
||||
1 50 INAV_W_Z_VIS_P 0.5 9 |
||||
1 50 LAUN_ALL_ON 0 6 |
||||
1 50 LAUN_CAT_A 30 9 |
||||
1 50 LAUN_CAT_MDEL 0 9 |
||||
1 50 LAUN_CAT_PMAX 30 9 |
||||
1 50 LAUN_CAT_T 0.05 9 |
||||
1 50 LAUN_THR_PRE 0 9 |
||||
1 50 MAV_COMP_ID 50 6 |
||||
1 50 MAV_FWDEXTSP 1 6 |
||||
1 50 MAV_SYS_ID 128 6 |
||||
1 50 MAV_TYPE 2 6 |
||||
1 50 MAV_USEHILGPS 0 6 |
||||
1 50 MC_ACRO_P_MAX 90 9 |
||||
1 50 MC_ACRO_R_MAX 90 9 |
||||
1 50 MC_ACRO_Y_MAX 120 9 |
||||
1 50 MC_MAN_P_MAX 35 9 |
||||
1 50 MC_MAN_R_MAX 35 9 |
||||
1 50 MC_MAN_Y_MAX 120 9 |
||||
1 50 MC_PITCHRATE_D 0.003 9 |
||||
1 50 MC_PITCHRATE_I 0 9 |
||||
1 50 MC_PITCHRATE_P 0.1 9 |
||||
1 50 MC_PITCH_P 7 9 |
||||
1 50 MC_ROLLRATE_D 0.003 9 |
||||
1 50 MC_ROLLRATE_I 0 9 |
||||
1 50 MC_ROLLRATE_P 0.1 9 |
||||
1 50 MC_ROLL_P 7 9 |
||||
1 50 MC_YAWRATE_D 0 9 |
||||
1 50 MC_YAWRATE_I 0.1 9 |
||||
1 50 MC_YAWRATE_MAX 120 9 |
||||
1 50 MC_YAWRATE_P 0.2 9 |
||||
1 50 MC_YAW_FF 0.5 9 |
||||
1 50 MC_YAW_P 2.8 9 |
||||
1 50 MIS_ALTMODE 0 6 |
||||
1 50 MIS_DIST_1WP 500 9 |
||||
1 50 MIS_ONBOARD_EN 1 6 |
||||
1 50 MIS_TAKEOFF_ALT 10 9 |
||||
1 50 MPC_LAND_SPEED 1 9 |
||||
1 50 MPC_THR_MAX 1 9 |
||||
1 50 MPC_THR_MIN 0.1 9 |
||||
1 50 MPC_TILTMAX_AIR 45 9 |
||||
1 50 MPC_TILTMAX_LND 15 9 |
||||
1 50 MPC_XY_FF 0.5 9 |
||||
1 50 MPC_XY_P 1 9 |
||||
1 50 MPC_XY_VEL_D 0.01 9 |
||||
1 50 MPC_XY_VEL_I 0.02 9 |
||||
1 50 MPC_XY_VEL_MAX 5 9 |
||||
1 50 MPC_XY_VEL_P 0.1 9 |
||||
1 50 MPC_Z_FF 0.5 9 |
||||
1 50 MPC_Z_P 1 9 |
||||
1 50 MPC_Z_VEL_D 0 9 |
||||
1 50 MPC_Z_VEL_I 0.02 9 |
||||
1 50 MPC_Z_VEL_MAX 3 9 |
||||
1 50 MPC_Z_VEL_P 0.1 9 |
||||
1 50 MT_ACC_D 0 9 |
||||
1 50 MT_ACC_D_LP 0.5 9 |
||||
1 50 MT_ACC_MAX 40 9 |
||||
1 50 MT_ACC_MIN -40 9 |
||||
1 50 MT_ACC_P 0.3 9 |
||||
1 50 MT_AD_LP 0.5 9 |
||||
1 50 MT_ALT_LP 1 9 |
||||
1 50 MT_A_LP 0.5 9 |
||||
1 50 MT_ENABLED 0 6 |
||||
1 50 MT_FPA_D 0 9 |
||||
1 50 MT_FPA_D_LP 1 9 |
||||
1 50 MT_FPA_LP 1 9 |
||||
1 50 MT_FPA_MAX 30 9 |
||||
1 50 MT_FPA_MIN -20 9 |
||||
1 50 MT_FPA_P 0.3 9 |
||||
1 50 MT_LND_PIT_MAX 15 9 |
||||
1 50 MT_LND_PIT_MIN -5 9 |
||||
1 50 MT_LND_THR_MAX 0 9 |
||||
1 50 MT_LND_THR_MIN 0 9 |
||||
1 50 MT_PIT_FF 0.4 9 |
||||
1 50 MT_PIT_I 0.03 9 |
||||
1 50 MT_PIT_I_MAX 10 9 |
||||
1 50 MT_PIT_MAX 20 9 |
||||
1 50 MT_PIT_MIN -45 9 |
||||
1 50 MT_PIT_OFF 0 9 |
||||
1 50 MT_PIT_P 0.03 9 |
||||
1 50 MT_THR_FF 0.7 9 |
||||
1 50 MT_THR_I 0.25 9 |
||||
1 50 MT_THR_I_MAX 10 9 |
||||
1 50 MT_THR_MAX 1 9 |
||||
1 50 MT_THR_MIN 0 9 |
||||
1 50 MT_THR_OFF 0.7 9 |
||||
1 50 MT_THR_P 0.1 9 |
||||
1 50 MT_TKF_PIT_MAX 45 9 |
||||
1 50 MT_TKF_PIT_MIN 0 9 |
||||
1 50 MT_TKF_THR_MAX 1 9 |
||||
1 50 MT_TKF_THR_MIN 1 9 |
||||
1 50 MT_USP_PIT_MAX 0 9 |
||||
1 50 MT_USP_PIT_MIN -45 9 |
||||
1 50 MT_USP_THR_MAX 1 9 |
||||
1 50 MT_USP_THR_MIN 1 9 |
||||
1 50 NAV_ACC_RAD 25 9 |
||||
1 50 NAV_AH_ALT 600 9 |
||||
1 50 NAV_AH_LAT -265847810 6 |
||||
1 50 NAV_AH_LON 1518423250 6 |
||||
1 50 NAV_DLL_AH_T 120 9 |
||||
1 50 NAV_DLL_CHSK 0 6 |
||||
1 50 NAV_DLL_CH_ALT 600 9 |
||||
1 50 NAV_DLL_CH_LAT -266072120 6 |
||||
1 50 NAV_DLL_CH_LON 1518453890 6 |
||||
1 50 NAV_DLL_CH_T 120 9 |
||||
1 50 NAV_DLL_N 2 6 |
||||
1 50 NAV_DLL_OBC 0 6 |
||||
1 50 NAV_GPSF_LT 30 9 |
||||
1 50 NAV_GPSF_P 0 9 |
||||
1 50 NAV_GPSF_R 15 9 |
||||
1 50 NAV_GPSF_TR 0.7 9 |
||||
1 50 NAV_LOITER_RAD 50 9 |
||||
1 50 NAV_RCL_LT 120 9 |
||||
1 50 NAV_RCL_OBC 0 6 |
||||
1 50 PE_ABIAS_PNOISE 5e-05 9 |
||||
1 50 PE_ACC_PNOISE 0.25 9 |
||||
1 50 PE_EAS_NOISE 1.4 9 |
||||
1 50 PE_GBIAS_PNOISE 1e-07 9 |
||||
1 50 PE_GPS_ALT_WGT 0.9 9 |
||||
1 50 PE_GYRO_PNOISE 0.015 9 |
||||
1 50 PE_HGT_DELAY_MS 350 6 |
||||
1 50 PE_MAGB_PNOISE 0.0003 9 |
||||
1 50 PE_MAGE_PNOISE 0.0003 9 |
||||
1 50 PE_MAG_DELAY_MS 30 6 |
||||
1 50 PE_MAG_NOISE 0.05 9 |
||||
1 50 PE_POSDEV_INIT 5 9 |
||||
1 50 PE_POSD_NOISE 1 9 |
||||
1 50 PE_POSNE_NOISE 0.5 9 |
||||
1 50 PE_POS_DELAY_MS 210 6 |
||||
1 50 PE_TAS_DELAY_MS 210 6 |
||||
1 50 PE_VELD_NOISE 0.7 9 |
||||
1 50 PE_VELNE_NOISE 0.5 9 |
||||
1 50 PE_VEL_DELAY_MS 230 6 |
||||
1 50 RC10_DZ 0 9 |
||||
1 50 RC10_MAX 2000 9 |
||||
1 50 RC10_MIN 1000 9 |
||||
1 50 RC10_REV 1 9 |
||||
1 50 RC10_TRIM 1500 9 |
||||
1 50 RC11_DZ 0 9 |
||||
1 50 RC11_MAX 2000 9 |
||||
1 50 RC11_MIN 1000 9 |
||||
1 50 RC11_REV 1 9 |
||||
1 50 RC11_TRIM 1500 9 |
||||
1 50 RC12_DZ 0 9 |
||||
1 50 RC12_MAX 2000 9 |
||||
1 50 RC12_MIN 1000 9 |
||||
1 50 RC12_REV 1 9 |
||||
1 50 RC12_TRIM 1500 9 |
||||
1 50 RC13_DZ 0 9 |
||||
1 50 RC13_MAX 2000 9 |
||||
1 50 RC13_MIN 1000 9 |
||||
1 50 RC13_REV 1 9 |
||||
1 50 RC13_TRIM 1500 9 |
||||
1 50 RC14_DZ 0 9 |
||||
1 50 RC14_MAX 2000 9 |
||||
1 50 RC14_MIN 1000 9 |
||||
1 50 RC14_REV 1 9 |
||||
1 50 RC14_TRIM 1500 9 |
||||
1 50 RC15_DZ 0 9 |
||||
1 50 RC15_MAX 2000 9 |
||||
1 50 RC15_MIN 1000 9 |
||||
1 50 RC15_REV 1 9 |
||||
1 50 RC15_TRIM 1500 9 |
||||
1 50 RC16_DZ 0 9 |
||||
1 50 RC16_MAX 2000 9 |
||||
1 50 RC16_MIN 1000 9 |
||||
1 50 RC16_REV 1 9 |
||||
1 50 RC16_TRIM 1500 9 |
||||
1 50 RC17_DZ 0 9 |
||||
1 50 RC17_MAX 2000 9 |
||||
1 50 RC17_MIN 1000 9 |
||||
1 50 RC17_REV 1 9 |
||||
1 50 RC17_TRIM 1500 9 |
||||
1 50 RC18_DZ 0 9 |
||||
1 50 RC18_MAX 2000 9 |
||||
1 50 RC18_MIN 1000 9 |
||||
1 50 RC18_REV 1 9 |
||||
1 50 RC18_TRIM 1500 9 |
||||
1 50 RC1_DZ 10 9 |
||||
1 50 RC1_MAX 1900 9 |
||||
1 50 RC1_MIN 1100 9 |
||||
1 50 RC1_REV -1 9 |
||||
1 50 RC1_TRIM 1490 9 |
||||
1 50 RC2_DZ 10 9 |
||||
1 50 RC2_MAX 1900 9 |
||||
1 50 RC2_MIN 1100 9 |
||||
1 50 RC2_REV 1 9 |
||||
1 50 RC2_TRIM 1483 9 |
||||
1 50 RC3_DZ 10 9 |
||||
1 50 RC3_MAX 1901 9 |
||||
1 50 RC3_MIN 1099 9 |
||||
1 50 RC3_REV 1 9 |
||||
1 50 RC3_TRIM 1099 9 |
||||
1 50 RC4_DZ 10 9 |
||||
1 50 RC4_MAX 1900 9 |
||||
1 50 RC4_MIN 1100 9 |
||||
1 50 RC4_REV -1 9 |
||||
1 50 RC4_TRIM 1500 9 |
||||
1 50 RC5_DZ 10 9 |
||||
1 50 RC5_MAX 1901 9 |
||||
1 50 RC5_MIN 1099 9 |
||||
1 50 RC5_REV 1 9 |
||||
1 50 RC5_TRIM 1500 9 |
||||
1 50 RC6_DZ 10 9 |
||||
1 50 RC6_MAX 1901 9 |
||||
1 50 RC6_MIN 1099 9 |
||||
1 50 RC6_REV 1 9 |
||||
1 50 RC6_TRIM 1500 9 |
||||
1 50 RC7_DZ 10 9 |
||||
1 50 RC7_MAX 1901 9 |
||||
1 50 RC7_MIN 1099 9 |
||||
1 50 RC7_REV 1 9 |
||||
1 50 RC7_TRIM 1500 9 |
||||
1 50 RC8_DZ 10 9 |
||||
1 50 RC8_MAX 1901 9 |
||||
1 50 RC8_MIN 1099 9 |
||||
1 50 RC8_REV 1 9 |
||||
1 50 RC8_TRIM 1500 9 |
||||
1 50 RC9_DZ 0 9 |
||||
1 50 RC9_MAX 2000 9 |
||||
1 50 RC9_MIN 1000 9 |
||||
1 50 RC9_REV 1 9 |
||||
1 50 RC9_TRIM 1500 9 |
||||
1 50 RC_ACRO_TH 0.5 9 |
||||
1 50 RC_ASSIST_TH 0.25 9 |
||||
1 50 RC_AUTO_TH 0.75 9 |
||||
1 50 RC_DSM_BIND -1 6 |
||||
1 50 RC_FAILS_THR 0 6 |
||||
1 50 RC_LOITER_TH 0.5 9 |
||||
1 50 RC_MAP_ACRO_SW 0 6 |
||||
1 50 RC_MAP_AUX1 0 6 |
||||
1 50 RC_MAP_AUX2 0 6 |
||||
1 50 RC_MAP_AUX3 0 6 |
||||
1 50 RC_MAP_FAILSAFE 0 6 |
||||
1 50 RC_MAP_FLAPS 0 6 |
||||
1 50 RC_MAP_LOITER_SW 0 6 |
||||
1 50 RC_MAP_MODE_SW 0 6 |
||||
1 50 RC_MAP_OFFB_SW 0 6 |
||||
1 50 RC_MAP_PITCH 2 6 |
||||
1 50 RC_MAP_POSCTL_SW 0 6 |
||||
1 50 RC_MAP_RETURN_SW 0 6 |
||||
1 50 RC_MAP_ROLL 1 6 |
||||
1 50 RC_MAP_THROTTLE 3 6 |
||||
1 50 RC_MAP_YAW 4 6 |
||||
1 50 RC_OFFB_TH 0.5 9 |
||||
1 50 RC_POSCTL_TH 0.5 9 |
||||
1 50 RC_RETURN_TH 0.5 9 |
||||
1 50 RTL_DESCEND_ALT 20 9 |
||||
1 50 RTL_LAND_DELAY -1 9 |
||||
1 50 RTL_LOITER_RAD 50 9 |
||||
1 50 RTL_RETURN_ALT 100 9 |
||||
1 50 SDLOG_EXT -1 6 |
||||
1 50 SDLOG_RATE -1 6 |
||||
1 50 SENS_ACC_XOFF 0 9 |
||||
1 50 SENS_ACC_XSCALE 1 9 |
||||
1 50 SENS_ACC_YOFF 0 9 |
||||
1 50 SENS_ACC_YSCALE 1 9 |
||||
1 50 SENS_ACC_ZOFF 0 9 |
||||
1 50 SENS_ACC_ZSCALE 1 9 |
||||
1 50 SENS_BARO_QNH 1013.25 9 |
||||
1 50 SENS_BOARD_ROT 0 6 |
||||
1 50 SENS_BOARD_X_OFF 0 9 |
||||
1 50 SENS_BOARD_Y_OFF 0 9 |
||||
1 50 SENS_BOARD_Z_OFF 0 9 |
||||
1 50 SENS_DPRES_ANSC 0 9 |
||||
1 50 SENS_DPRES_OFF 0 9 |
||||
1 50 SENS_EXT_MAG 0 6 |
||||
1 50 SENS_EXT_MAG_ROT 0 6 |
||||
1 50 SENS_GYRO_XOFF 0 9 |
||||
1 50 SENS_GYRO_XSCALE 1 9 |
||||
1 50 SENS_GYRO_YOFF 0 9 |
||||
1 50 SENS_GYRO_YSCALE 1 9 |
||||
1 50 SENS_GYRO_ZOFF 0 9 |
||||
1 50 SENS_GYRO_ZSCALE 1 9 |
||||
1 50 SENS_MAG_XOFF 0 9 |
||||
1 50 SENS_MAG_XSCALE 1 9 |
||||
1 50 SENS_MAG_YOFF 0 9 |
||||
1 50 SENS_MAG_YSCALE 1 9 |
||||
1 50 SENS_MAG_ZOFF 0 9 |
||||
1 50 SENS_MAG_ZSCALE 1 9 |
||||
1 50 SO3_COMP_KI 0.05 9 |
||||
1 50 SO3_COMP_KP 1 9 |
||||
1 50 SO3_PITCH_OFFS 0 9 |
||||
1 50 SO3_ROLL_OFFS 0 9 |
||||
1 50 SO3_YAW_OFFS 0 9 |
||||
1 50 SYS_AUTOCONFIG 0 6 |
||||
1 50 SYS_AUTOSTART 4010 6 |
||||
1 50 SYS_RESTART_TYPE 0 6 |
||||
1 50 SYS_USE_IO 1 6 |
||||
1 50 TEST_D 0.01 9 |
||||
1 50 TEST_DEV 2 9 |
||||
1 50 TEST_D_LP 10 9 |
||||
1 50 TEST_HP 10 9 |
||||
1 50 TEST_I 0.1 9 |
||||
1 50 TEST_I_MAX 1 9 |
||||
1 50 TEST_LP 10 9 |
||||
1 50 TEST_MAX 1 9 |
||||
1 50 TEST_MEAN 1 9 |
||||
1 50 TEST_MIN -1 9 |
||||
1 50 TEST_P 0.2 9 |
||||
1 50 TEST_TRIM 0.5 9 |
||||
1 50 TRIM_PITCH 0 9 |
||||
1 50 TRIM_ROLL 0 9 |
||||
1 50 TRIM_YAW 0 9 |
||||
1 50 UAVCAN_BITRATE 1000000 6 |
||||
1 50 UAVCAN_ENABLE 0 6 |
||||
1 50 UAVCAN_NODE_ID 1 6 |
||||
1 50 test 305419896 6 |
||||
File diff suppressed because it is too large
Load Diff
@ -0,0 +1,109 @@
@@ -0,0 +1,109 @@
|
||||
/*=====================================================================
|
||||
|
||||
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/>.
|
||||
|
||||
======================================================================*/ |
||||
|
||||
#ifndef MOCKLINKMISSIONITEMHANDLER_H |
||||
#define MOCKLINKMISSIONITEMHANDLER_H |
||||
|
||||
// FIXME: This file is a work in progress
|
||||
|
||||
#include <QObject> |
||||
#include <vector> |
||||
|
||||
#include "MAVLinkSimulationLink.h" |
||||
#include "QGCMAVLink.h" |
||||
|
||||
enum PX_WAYPOINTPLANNER_STATES { |
||||
PX_WPP_IDLE = 0, |
||||
PX_WPP_SENDLIST, |
||||
PX_WPP_SENDLIST_SENDWPS, |
||||
PX_WPP_GETLIST, |
||||
PX_WPP_GETLIST_GETWPS, |
||||
PX_WPP_GETLIST_GOTALL |
||||
}; |
||||
|
||||
class MockLinkMissionItemHandler : public QObject |
||||
{ |
||||
Q_OBJECT |
||||
|
||||
public: |
||||
MockLinkMissionItemHandler(uint16_t systemId, QObject* parent = NULL); |
||||
|
||||
/// @brief Called to handle mission item related messages. All messages should be passed to this method.
|
||||
/// It will handle the appropriate set.
|
||||
void handleMessage(const mavlink_message_t& msg); |
||||
|
||||
#if 0 |
||||
signals: |
||||
void messageSent(const mavlink_message_t& msg); |
||||
|
||||
protected: |
||||
MAVLinkSimulationLink* link; |
||||
bool idle; ///< indicates if the system is following the waypoints or is waiting
|
||||
uint16_t current_active_wp_id; ///< id of current waypoint
|
||||
bool yawReached; ///< boolean for yaw attitude reached
|
||||
bool posReached; ///< boolean for position reached
|
||||
uint64_t timestamp_lastoutside_orbit;///< timestamp when the MAV was last outside the orbit or had the wrong yaw value
|
||||
uint64_t timestamp_firstinside_orbit;///< timestamp when the MAV was the first time after a waypoint change inside the orbit and had the correct yaw value
|
||||
|
||||
std::vector<mavlink_mission_item_t*> waypoints1; ///< vector1 that holds the waypoints
|
||||
std::vector<mavlink_mission_item_t*> waypoints2; ///< vector2 that holds the waypoints
|
||||
|
||||
std::vector<mavlink_mission_item_t*>* waypoints; ///< pointer to the currently active waypoint vector
|
||||
std::vector<mavlink_mission_item_t*>* waypoints_receive_buffer; ///< pointer to the receive buffer waypoint vector
|
||||
PX_WAYPOINTPLANNER_STATES current_state; |
||||
uint16_t protocol_current_wp_id; |
||||
uint16_t protocol_current_count; |
||||
uint8_t protocol_current_partner_systemid; |
||||
uint8_t protocol_current_partner_compid; |
||||
uint64_t protocol_timestamp_lastaction; |
||||
unsigned int protocol_timeout; |
||||
uint64_t timestamp_last_send_setpoint; |
||||
uint8_t systemid; |
||||
uint8_t compid; |
||||
unsigned int setpointDelay; |
||||
float yawTolerance; |
||||
bool verbose; |
||||
bool debug; |
||||
bool silent; |
||||
|
||||
void send_waypoint_ack(uint8_t target_systemid, uint8_t target_compid, uint8_t type); |
||||
void send_waypoint_current(uint16_t seq); |
||||
void send_setpoint(uint16_t seq); |
||||
void send_waypoint_count(uint8_t target_systemid, uint8_t target_compid, uint16_t count); |
||||
void send_waypoint(uint8_t target_systemid, uint8_t target_compid, uint16_t seq); |
||||
void send_waypoint_request(uint8_t target_systemid, uint8_t target_compid, uint16_t seq); |
||||
void send_waypoint_reached(uint16_t seq); |
||||
float distanceToSegment(uint16_t seq, float x, float y, float z); |
||||
float distanceToPoint(uint16_t seq, float x, float y, float z); |
||||
float distanceToPoint(uint16_t seq, float x, float y); |
||||
void mavlink_handler(const mavlink_message_t* msg); |
||||
#endif |
||||
|
||||
private: |
||||
uint16_t _vehicleSystemId; ///< System id of this vehicle
|
||||
|
||||
QList<mavlink_mission_item_t> _missionItems; ///< Current set of mission itemss
|
||||
|
||||
}; |
||||
|
||||
#endif // MAVLINKSIMULATIONWAYPOINTPLANNER_H
|
||||
Loading…
Reference in new issue