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83 lines
3.0 KiB
83 lines
3.0 KiB
/*===================================================================== |
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QGroundControl Open Source Ground Control Station |
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(c) 2009 - 2015 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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#include "APMAutoPilotPlugin.h" |
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#include "AutoPilotPluginManager.h" |
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#include "QGCMessageBox.h" |
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#include "UAS.h" |
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#include "FirmwarePlugin/APM/APMParameterMetaData.h" // FIXME: Hack |
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#include "FirmwarePlugin/APM/APMFirmwarePlugin.h" // FIXME: Hack |
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/// This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_ARDUPILOT type. |
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APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent) |
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: AutoPilotPlugin(vehicle, parent) |
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, _incorrectParameterVersion(false) |
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, _airframeComponent(NULL) |
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{ |
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Q_ASSERT(vehicle); |
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} |
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APMAutoPilotPlugin::~APMAutoPilotPlugin() |
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{ |
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} |
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const QVariantList& APMAutoPilotPlugin::vehicleComponents(void) |
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{ |
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if (_components.count() == 0 && !_incorrectParameterVersion) { |
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Q_ASSERT(_vehicle); |
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if (parametersReady()) { |
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_airframeComponent = new APMAirframeComponent(_vehicle, this); |
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Q_CHECK_PTR(_airframeComponent); |
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_airframeComponent->setupTriggerSignals(); |
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_components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent)); |
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} else { |
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qWarning() << "Call to vehicleCompenents prior to parametersReady"; |
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} |
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} |
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return _components; |
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} |
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/// This will perform various checks prior to signalling that the plug in ready |
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void APMAutoPilotPlugin::_parametersReadyPreChecks(bool missingParameters) |
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{ |
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#if 0 |
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I believe APM has parameter version stamp, we should check that |
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// Check for older parameter version set |
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// FIXME: Firmware is moving to version stamp parameter set. Once that is complete the version stamp |
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// should be used instead. |
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if (parameterExists(FactSystem::defaultComponentId, "SENS_GYRO_XOFF")) { |
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_incorrectParameterVersion = true; |
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QGCMessageBox::warning("Setup", "This version of GroundControl can only perform vehicle setup on a newer version of firmware. " |
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"Please perform a Firmware Upgrade if you wish to use Vehicle Setup."); |
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} |
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#endif |
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_parametersReady = true; |
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_missingParameters = missingParameters; |
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emit missingParametersChanged(_missingParameters); |
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emit parametersReadyChanged(_parametersReady); |
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}
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