Initial support for PX4 rover vehicle.

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -50,6 +50,11 @@ FirmwarePluginFactoryRegister* FirmwarePluginFactoryRegister::instance(void)
     return _instance;
 }
 
+FirmwarePlugin::FirmwarePlugin(MAV_TYPE vehicleType)
+{
+    _vehicleType = vehicleType;
+}
+
 AutoPilotPlugin* FirmwarePlugin::autopilotPlugin(Vehicle* vehicle)
 {
     return new GenericAutoPilotPlugin(vehicle, vehicle);

src/FirmwarePlugin/FirmwarePlugin.h

@@ -49,6 +49,8 @@ public:
         TakeoffVehicleCapability =          1 << 4, ///< Vehicle supports guided takeoff
     } FirmwareCapabilities;
 
+    FirmwarePlugin(MAV_TYPE vehicleType = MAV_TYPE_GENERIC);
+
     /// Maps from on parameter name to another
     ///     key:    parameter name to translate from
     ///     value:  mapped parameter name
@@ -344,6 +346,9 @@ protected:
     // Returns regex QString to extract version information from text
     virtual QString _versionRegex() { return QString(); }
 
+protected:
+    MAV_TYPE _vehicleType = MAV_TYPE_GENERIC;
+
 private:
     QVariantList _toolBarIndicatorList;
     static QVariantList _cameraList;    ///< Standard QGC camera list

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -35,8 +35,9 @@ PX4FirmwarePluginInstanceData::PX4FirmwarePluginInstanceData(QObject* parent)
 
 }
 
-PX4FirmwarePlugin::PX4FirmwarePlugin(void)
-    : _manualFlightMode     (tr("Manual"))
+PX4FirmwarePlugin::PX4FirmwarePlugin(MAV_TYPE vehicleType)
+    : FirmwarePlugin(vehicleType)
+    , _manualFlightMode     (tr("Manual"))
     , _acroFlightMode       (tr("Acro"))
     , _stabilizedFlightMode (tr("Stabilized"))
     , _rattitudeFlightMode  (tr("Rattitude"))
@@ -257,7 +258,7 @@ FactMetaData* PX4FirmwarePlugin::getMetaDataForFact(QObject* parameterMetaData,
         qWarning() << "Internal error: pointer passed to PX4FirmwarePlugin::getMetaDataForFact not PX4ParameterMetaData";
     }
 
-    return NULL;
+    return nullptr;
 }
 
 void PX4FirmwarePlugin::addMetaDataToFact(QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType)
@@ -306,22 +307,16 @@ QString PX4FirmwarePlugin::missionCommandOverrides(MAV_TYPE vehicleType) const
     switch (vehicleType) {
     case MAV_TYPE_GENERIC:
         return QStringLiteral(":/json/PX4/MavCmdInfoCommon.json");
-        break;
     case MAV_TYPE_FIXED_WING:
         return QStringLiteral(":/json/PX4/MavCmdInfoFixedWing.json");
-        break;
     case MAV_TYPE_QUADROTOR:
         return QStringLiteral(":/json/PX4/MavCmdInfoMultiRotor.json");
-        break;
     case MAV_TYPE_VTOL_QUADROTOR:
         return QStringLiteral(":/json/PX4/MavCmdInfoVTOL.json");
-        break;
     case MAV_TYPE_SUBMARINE:
         return QStringLiteral(":/json/PX4/MavCmdInfoSub.json");
-        break;
     case MAV_TYPE_GROUND_ROVER:
         return QStringLiteral(":/json/PX4/MavCmdInfoRover.json");
-        break;
     default:
         qWarning() << "PX4FirmwarePlugin::missionCommandOverrides called with bad MAV_TYPE:" << vehicleType;
         return QString();
@@ -410,13 +405,14 @@ void PX4FirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle, double takeoffAltRel
     qDebug() << takeoffAltRel << takeoffAltRelFromVehicle << takeoffAltAMSL << vehicleAltitudeAMSL;
 
     connect(vehicle, &Vehicle::mavCommandResult, this, &PX4FirmwarePlugin::_mavCommandResult);
-    vehicle->sendMavCommand(vehicle->defaultComponentId(),
-                            MAV_CMD_NAV_TAKEOFF,
-                            true,                           // show error is fails
-                            -1,                             // No pitch requested
-                            0, 0,                           // param 2-4 unused
-                            NAN, NAN, NAN,                  // No yaw, lat, lon
-                            takeoffAltAMSL);                // AMSL altitude
+    vehicle->sendMavCommand(
+        vehicle->defaultComponentId(),
+        MAV_CMD_NAV_TAKEOFF,
+        true,                                   // show error is fails
+        -1,                                     // No pitch requested
+        0, 0,                                   // param 2-4 unused
+        NAN, NAN, NAN,                          // No yaw, lat, lon
+        static_cast<float>(takeoffAltAMSL));    // AMSL altitude
 }
 
 void PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord)
@@ -446,8 +442,8 @@ void PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoord
                                 MAV_DO_REPOSITION_FLAGS_CHANGE_MODE,
                                 0.0f,
                                 NAN,
-                                gotoCoord.latitude(),
-                                gotoCoord.longitude(),
+                                static_cast<float>(gotoCoord.latitude()),
+                                static_cast<float>(gotoCoord.longitude()),
                                 vehicle->altitudeAMSL()->rawValue().toFloat());
     }
 }
@@ -475,7 +471,7 @@ void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
                             NAN,
                             NAN,
                             NAN,
-                            vehicle->homePosition().altitude() + newAltRel);
+                            static_cast<float>(vehicle->homePosition().altitude() + newAltRel));
 }
 
 void PX4FirmwarePlugin::startMission(Vehicle* vehicle)
@@ -594,3 +590,8 @@ QString PX4FirmwarePlugin::_getLatestVersionFileUrl(Vehicle* vehicle){
 QString PX4FirmwarePlugin::_versionRegex() {
     return QStringLiteral("v([0-9,\\.]*) Stable");
 }
+
+bool PX4FirmwarePlugin::supportsNegativeThrust(void)
+{
+    return _vehicleType == MAV_TYPE_GROUND_ROVER;
+}

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -23,8 +23,8 @@ class PX4FirmwarePlugin : public FirmwarePlugin
     Q_OBJECT
 
 public:
-    PX4FirmwarePlugin(void);
-    ~PX4FirmwarePlugin();
+    PX4FirmwarePlugin   (MAV_TYPE vehicleType);
+    ~PX4FirmwarePlugin  () override;
 
     // Overrides from FirmwarePlugin
 
@@ -69,6 +69,7 @@ public:
     QString             autoDisarmParameter             (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral("COM_DISARM_LAND"); }
     uint32_t            highLatencyCustomModeTo32Bits   (uint16_t hlCustomMode) override;
     bool                supportsTerrainFrame            (void) const override { return false; }
+    bool                supportsNegativeThrust          (void) override;
 
 protected:
     typedef struct {
@@ -122,7 +123,7 @@ class PX4FirmwarePluginInstanceData : public QObject
     Q_OBJECT
 
 public:
-    PX4FirmwarePluginInstanceData(QObject* parent = NULL);
+    PX4FirmwarePluginInstanceData(QObject* parent = nullptr);
 
     bool versionNotified;  ///< true: user notified over version issue
 };

src/FirmwarePlugin/PX4/PX4FirmwarePluginFactory.cc

@@ -13,6 +13,7 @@
 
 #include "PX4FirmwarePluginFactory.h"
 #include "PX4/PX4FirmwarePlugin.h"
+
 PX4FirmwarePluginFactory PX4FirmwarePluginFactory;
 
 PX4FirmwarePluginFactory::PX4FirmwarePluginFactory(void)
@@ -24,21 +25,17 @@ PX4FirmwarePluginFactory::PX4FirmwarePluginFactory(void)
 QList<MAV_AUTOPILOT> PX4FirmwarePluginFactory::supportedFirmwareTypes(void) const
 {
     QList<MAV_AUTOPILOT> list;
-
     list.append(MAV_AUTOPILOT_PX4);
     return list;
 }
 
 FirmwarePlugin* PX4FirmwarePluginFactory::firmwarePluginForAutopilot(MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType)
 {
-    Q_UNUSED(vehicleType);
-
     if (autopilotType == MAV_AUTOPILOT_PX4) {
         if (!_pluginInstance) {
-            _pluginInstance = new PX4FirmwarePlugin;
+            _pluginInstance = new PX4FirmwarePlugin(vehicleType);
         }
         return _pluginInstance;
     }
-
     return nullptr;
 }