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90 lines
3.5 KiB
90 lines
3.5 KiB
From where is the 3D mouse used? |
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Comm folder: |
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============ |
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LinkInterface is a QThread. Appears to describe an interface on the host system (TCP port, serial port, ....). |
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Does it suppport multiple connections? |
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SerialLinkInterface: Extension of above |
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SerialLink: Implementation |
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XBeeLinkInterface: Extension of LinkInterface (but without other serial stuff than baudrate, is the rest assumed?) |
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XBeeLink: Implementation (with address resetting probably it's Series 1) |
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UDPLink: UDP implementation. Port is defaulted. |
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MAVLinkSimulationLink: Simulation/dummy implementation of LinkInterface. Does some file IO. |
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MAVLinkSimulationUAV: Simulation/dummy basic (remote) UAV state (minus mission state) for MAVLinkSimulationLink. |
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MAVLinkSimulationWaypointPlanner: imulation/dummy basic (remote) UAV mission state for MAVLinkSimulationLink. |
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ProtocolInterface describes a protocol. Major method: |
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virtual void receiveBytes(LinkInterface *link, QByteArray b) = 0; |
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MavlinkProtocol: MAVLink implementation of ProtocolInterface |
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Parameter: Identity of a parameter (the value types are not handled here. Oddly there is no type metainfo either) |
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ParameterList: Is pretty much what the name impiles. |
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QGCParamID: Wrapper if parameter text IDs, conversion to byte* and back |
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QGCHilLink: Link to a HIL external system |
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QCGFlightGearLink, QGCJSBSimLink, QGCXPlaneLink : Implementations of QGCHilLink |
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QGCMAVLink: Nothing more than in include to raw mavlink.h |
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input folder: |
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============= |
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Some exotic input devices |
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uas folder: |
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=========== |
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UAS.h: Local UAV model. Claims to support some sort of RPC. Uses some properties with notifications. Assumes MAVLink. |
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Some methods: |
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int getUASID() const; // the systemId |
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QList<LinkInterface*>* getLinks(); // it knows its links |
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virtual void receiveMessage(LinkInterface* link, mavlink_message_t message); |
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float receiveDropRate; ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs) |
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float sendDropRate; ///< Percentage of packets that were not received from the MAV by the GCS |
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Some fields: |
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bool positionLock; ///< Status if position information is available or not |
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double localX; // (what is this?) |
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double localY; |
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double localZ; |
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double latitude; ///< Global latitude as estimated by position estimator |
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double longitude; ///< Global longitude as estimated by position estimator |
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double altitude; ///< Global altitude as estimated by position estimator |
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double satelliteCount; ///< Number of satellites visible to raw GPS |
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bool globalEstimatorActive; ///< Global position estimator present, do not fall back to GPS raw for position |
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double latitude_gps; ///< Global latitude as estimated by raw GPS |
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double longitude_gps; ///< Global longitude as estimated by raw GPS |
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double altitude_gps; ///< Global altitude as estimated by raw GPS |
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and lots ans lots more... |
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*MAV.h: Implementations of UAS |
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QGCUASParamManager.h: A mixture of a widget and a parameter up/download state machine. Has a reference to its associated UAV. |
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UASWaypointManager: API to waypoint / mission control. Not a widget. Has a reference to its associated UAV. |
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UASManager.h: Singleton interface to all UASs on all interfaces. Maintains a single selected/active UAS. |
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Ideas to do |
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TCPLink |
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XBee Series2 implementation |
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Less stress on uplink |
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Get rid of hardcoded SystemId of 255 |
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Quick View should print all altitudes (GPS, mix, ground and/or home), letting user see errors. |
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Console debugging is hopefully removed? |
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