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97 lines
3.1 KiB
97 lines
3.1 KiB
/*===================================================================== |
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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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/// @file |
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/// @author Don Gagne <don@thegagnes.com> |
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#include "FirmwarePluginManager.h" |
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#include "Generic/GenericFirmwarePlugin.h" |
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#include "APM/ArduCopterFirmwarePlugin.h" |
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#include "APM/ArduPlaneFirmwarePlugin.h" |
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#include "APM/ArduRoverFirmwarePlugin.h" |
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#include "PX4/PX4FirmwarePlugin.h" |
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FirmwarePluginManager::FirmwarePluginManager(QGCApplication* app) |
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: QGCTool(app) |
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, _arduCopterFirmwarePlugin(NULL) |
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, _arduPlaneFirmwarePlugin(NULL) |
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, _arduRoverFirmwarePlugin(NULL) |
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, _genericFirmwarePlugin(NULL) |
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, _px4FirmwarePlugin(NULL) |
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{ |
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} |
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FirmwarePluginManager::~FirmwarePluginManager() |
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{ |
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delete _arduCopterFirmwarePlugin; |
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delete _arduPlaneFirmwarePlugin; |
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delete _arduRoverFirmwarePlugin; |
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delete _genericFirmwarePlugin; |
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delete _px4FirmwarePlugin; |
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} |
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FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType) |
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{ |
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switch (autopilotType) { |
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case MAV_AUTOPILOT_ARDUPILOTMEGA: |
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switch (vehicleType) { |
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case MAV_TYPE_QUADROTOR: |
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case MAV_TYPE_HEXAROTOR: |
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case MAV_TYPE_OCTOROTOR: |
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case MAV_TYPE_TRICOPTER: |
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case MAV_TYPE_COAXIAL: |
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case MAV_TYPE_HELICOPTER: |
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if (!_arduCopterFirmwarePlugin) { |
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_arduCopterFirmwarePlugin = new ArduCopterFirmwarePlugin; |
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} |
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return _arduCopterFirmwarePlugin; |
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case MAV_TYPE_FIXED_WING: |
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if (!_arduPlaneFirmwarePlugin) { |
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_arduPlaneFirmwarePlugin = new ArduPlaneFirmwarePlugin; |
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} |
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return _arduPlaneFirmwarePlugin; |
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case MAV_TYPE_GROUND_ROVER: |
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case MAV_TYPE_SURFACE_BOAT: |
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case MAV_TYPE_SUBMARINE: |
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if (!_arduRoverFirmwarePlugin) { |
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_arduRoverFirmwarePlugin = new ArduRoverFirmwarePlugin; |
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} |
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return _arduRoverFirmwarePlugin; |
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default: |
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break; |
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} |
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case MAV_AUTOPILOT_PX4: |
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if (!_px4FirmwarePlugin) { |
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_px4FirmwarePlugin = new PX4FirmwarePlugin; |
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} |
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return _px4FirmwarePlugin; |
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default: |
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break; |
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} |
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if (!_genericFirmwarePlugin) { |
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_genericFirmwarePlugin = new GenericFirmwarePlugin; |
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} |
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return _genericFirmwarePlugin; |
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}
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