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65 lines
2.1 KiB
65 lines
2.1 KiB
/*===================================================================== |
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QGroundControl Open Source Ground Control Station |
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(c) 2009, 2010 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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/** |
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* @file |
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* @brief Implementation of class MainWindow |
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* @author Your Name here |
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*/ |
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#include "ArduPilotMegaMAV.h" |
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ArduPilotMegaMAV::ArduPilotMegaMAV(MAVLinkProtocol* mavlink, int id) : |
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UAS(mavlink, id)//, |
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// place other initializers here |
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{ |
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} |
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/** |
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* This function is called by MAVLink once a complete, uncorrupted (CRC check valid) |
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* mavlink packet is received. |
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* |
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* @param link Hardware link the message came from (e.g. /dev/ttyUSB0 or UDP port). |
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* messages can be sent back to the system via this link |
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* @param message MAVLink message, as received from the MAVLink protocol stack |
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*/ |
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void ArduPilotMegaMAV::receiveMessage(LinkInterface* link, mavlink_message_t message) |
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{ |
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// Let UAS handle the default message set |
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UAS::receiveMessage(link, message); |
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if (message.sysid == uasId) |
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{ |
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// Handle your special messages |
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switch (message.msgid) |
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{ |
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case MAVLINK_MSG_ID_HEARTBEAT: |
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{ |
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qDebug() << "ARDUPILOT RECEIVED HEARTBEAT"; |
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break; |
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} |
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default: |
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qDebug() << "\nARDUPILOT RECEIVED MESSAGE WITH ID" << message.msgid; |
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break; |
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} |
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} |
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}
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