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214 lines
11 KiB
214 lines
11 KiB
/**************************************************************************** |
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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/// @file |
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/// @author Don Gagne <don@thegagnes.com> |
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#ifndef FirmwarePlugin_H |
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#define FirmwarePlugin_H |
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#include "QGCMAVLink.h" |
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#include "VehicleComponent.h" |
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#include "AutoPilotPlugin.h" |
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#include <QList> |
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#include <QString> |
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class Vehicle; |
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/// This is the base class for Firmware specific plugins |
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/// |
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/// The FirmwarePlugin class represents the methods and objects which are specific to a certain Firmware flight stack. |
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/// This is the only place where flight stack specific code should reside in QGroundControl. The remainder of the |
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/// QGroundControl source is generic to a common mavlink implementation. The implementation in the base class supports |
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/// mavlink generic firmware. Override the base clase virtuals to create your own firmware specific plugin. |
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class FirmwarePlugin : public QObject |
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{ |
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Q_OBJECT |
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public: |
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/// Set of optional capabilites which firmware may support |
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typedef enum { |
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SetFlightModeCapability = 1 << 0, ///< FirmwarePlugin::setFlightMode method is supported |
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MavCmdPreflightStorageCapability = 1 << 1, ///< MAV_CMD_PREFLIGHT_STORAGE is supported |
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PauseVehicleCapability = 1 << 2, ///< Vehicle supports pausing at current location |
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GuidedModeCapability = 1 << 3, ///< Vehicle Supports guided mode commands |
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OrbitModeCapability = 1 << 4, ///< Vehicle Supports orbit mode |
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} FirmwareCapabilities; |
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/// Maps from on parameter name to another |
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/// key: parameter name to translate from |
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/// value: mapped parameter name |
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typedef QMap<QString, QString> remapParamNameMap_t; |
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/// Maps from firmware minor version to remapParamNameMap_t entry |
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/// key: firmware minor version |
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/// value: remapParamNameMap_t entry |
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typedef QMap<int, remapParamNameMap_t> remapParamNameMinorVersionRemapMap_t; |
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/// Maps from firmware major version number to remapParamNameMinorVersionRemapMap_t entry |
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/// key: firmware major version |
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/// value: remapParamNameMinorVersionRemapMap_t entry |
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typedef QMap<int, remapParamNameMinorVersionRemapMap_t> remapParamNameMajorVersionMap_t; |
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/// Called when Vehicle is first created to send any necessary mavlink messages to the firmware. |
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virtual void initializeVehicle(Vehicle* vehicle); |
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/// @return true: Firmware supports all specified capabilites |
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virtual bool isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities); |
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/// Returns VehicleComponents for specified Vehicle |
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/// @param vehicle Vehicle to associate with components |
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/// @return List of VehicleComponents for the specified vehicle. Caller owns returned objects and must |
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/// free when no longer needed. |
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virtual QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle); |
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/// Returns the list of available flight modes |
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virtual QStringList flightModes(Vehicle* vehicle) { |
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Q_UNUSED(vehicle); |
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return QStringList(); |
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} |
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/// Returns the name for this flight mode. Flight mode names must be human readable as well as audio speakable. |
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/// @param base_mode Base mode from mavlink HEARTBEAT message |
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/// @param custom_mode Custom mode from mavlink HEARTBEAT message |
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virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode) const; |
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/// Sets base_mode and custom_mode to specified flight mode. |
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/// @param[out] base_mode Base mode for SET_MODE mavlink message |
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/// @param[out] custom_mode Custom mode for SET_MODE mavlink message |
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virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode); |
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/// Returns whether the vehicle is in guided mode or not. |
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virtual bool isGuidedMode(const Vehicle* vehicle) const; |
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/// Set guided flight mode |
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virtual void setGuidedMode(Vehicle* vehicle, bool guidedMode); |
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/// Returns whether the vehicle is paused or not. |
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virtual bool isPaused(const Vehicle* vehicle) const; |
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/// Causes the vehicle to stop at current position. If guide mode is supported, vehicle will be let in guide mode. |
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/// If not, vehicle will be left in Loiter. |
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virtual void pauseVehicle(Vehicle* vehicle); |
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/// Command vehicle to return to launch |
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virtual void guidedModeRTL(Vehicle* vehicle); |
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/// Command vehicle to land at current location |
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virtual void guidedModeLand(Vehicle* vehicle); |
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/// Command vehicle to takeoff from current location |
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/// @param altitudeRel Relative altitude to takeoff to |
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virtual void guidedModeTakeoff(Vehicle* vehicle, double altitudeRel); |
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/// Command vehicle to orbit given center point |
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/// @param centerCoord Center Coordinates |
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virtual void guidedModeOrbit(Vehicle* vehicle, const QGeoCoordinate& centerCoord, double radius, double velocity, double altitude); |
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/// Command vehicle to move to specified location (altitude is included and relative) |
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virtual void guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord); |
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/// Command vehicle to change to the specified relatice altitude |
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virtual void guidedModeChangeAltitude(Vehicle* vehicle, double altitudeRel); |
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/// FIXME: This isn't quite correct being here. All code for Joystick suvehicleTypepport is currently firmware specific |
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/// not just this. I'm going to try to change that. If not, this will need to be removed. |
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/// Returns the number of buttons which are reserved for firmware use in the MANUAL_CONTROL mavlink |
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/// message. For example PX4 Flight Stack reserves the first 8 buttons to simulate rc switches. |
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/// The remainder can be assigned to Vehicle actions. |
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/// @return -1: reserver all buttons, >0 number of buttons to reserve |
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virtual int manualControlReservedButtonCount(void); |
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/// Returns true if the vehicle and firmware supports the use of a throttle joystick that |
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/// is zero when centered. Typically not supported on vehicles that have bidirectional |
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/// throttle. |
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virtual bool supportsThrottleModeCenterZero(void); |
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/// Returns true if the firmware supports the use of the MAVlink "MANUAL_CONTROL" message. |
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/// By default, this returns false unless overridden in the firmware plugin. |
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virtual bool supportsManualControl(void); |
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/// Returns true if the firmware supports the use of the RC radio and requires the RC radio |
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/// setup page. Returns true by default. |
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virtual bool supportsRadio(void); |
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/// Returns true if the firmware supports the AP_JSButton library, which allows joystick buttons |
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/// to be assigned via parameters in firmware. Default is false. |
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virtual bool supportsJSButton(void); |
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/// Called before any mavlink message is processed by Vehicle such that the firmwre plugin |
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/// can adjust any message characteristics. This is handy to adjust or differences in mavlink |
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/// spec implementations such that the base code can remain mavlink generic. |
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/// @param vehicle Vehicle message came from |
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/// @param message[in,out] Mavlink message to adjust if needed. |
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/// @return false: skip message, true: process message |
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virtual bool adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message); |
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/// Called before any mavlink message is sent to the Vehicle so plugin can adjust any message characteristics. |
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/// This is handy to adjust or differences in mavlink spec implementations such that the base code can remain |
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/// mavlink generic. |
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/// @param vehicle Vehicle message came from |
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/// @param message[in,out] Mavlink message to adjust if needed. |
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virtual void adjustOutgoingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message); |
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/// Determines how to handle the first item of the mission item list. Internally to QGC the first item |
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/// is always the home position. |
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/// @return |
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/// true: Send first mission item as home position to vehicle. When vehicle has no mission items on |
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/// it, it may or may not return a home position back in position 0. |
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/// false: Do not send first item to vehicle, sequence numbers must be adjusted |
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virtual bool sendHomePositionToVehicle(void); |
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/// Returns the parameter that is used to identify the default component |
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virtual QString getDefaultComponentIdParam(void) const { return QString(); } |
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/// Returns the parameter which is used to identify the version number of parameter set |
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virtual QString getVersionParam(void) { return QString(); } |
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/// Returns the parameter set version info pulled from inside the meta data file. -1 if not found. |
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virtual void getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion); |
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/// Returns the internal resource parameter meta date file. |
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virtual QString internalParameterMetaDataFile(void) { return QString(); } |
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/// Loads the specified parameter meta data file. |
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/// @return Opaque parameter meta data information which must be stored with Vehicle. Vehicle is reponsible to |
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/// call deleteParameterMetaData when no longer needed. |
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virtual QObject* loadParameterMetaData(const QString& metaDataFile) { Q_UNUSED(metaDataFile); return NULL; } |
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/// Adds the parameter meta data to the Fact |
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/// @param opaqueParameterMetaData Opaque pointer returned from loadParameterMetaData |
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virtual void addMetaDataToFact(QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) { Q_UNUSED(parameterMetaData); Q_UNUSED(fact); Q_UNUSED(vehicleType); return; } |
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/// List of supported mission commands. Empty list for all commands supported. |
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virtual QList<MAV_CMD> supportedMissionCommands(void); |
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/// Returns the names for the mission command json override files. Empty string to specify no overrides. |
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/// @param[out] commonJsonFilename Filename for common overrides |
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/// @param[out] fixedWingJsonFilename Filename for fixed wing overrides |
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/// @param[out] multiRotorJsonFilename Filename for multi rotor overrides |
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virtual void missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const; |
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/// Returns the mapping structure which is used to map from one parameter name to another based on firmware version. |
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virtual const remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const; |
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/// Returns the highest major version number that is known to the remap for this specified major version. |
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virtual int remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const; |
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/// @return true: Motors are coaxial like an X8 config, false: Quadcopter for example |
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virtual bool multiRotorCoaxialMotors(Vehicle* vehicle) { Q_UNUSED(vehicle); return false; } |
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/// @return true: X confiuration, false: Plus configuration |
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virtual bool multiRotorXConfig(Vehicle* vehicle) { Q_UNUSED(vehicle); return false; } |
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}; |
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#endif
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