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Vehicle.cpp
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Vehicle.cpp
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#include "Vehicle.h"
#include "PX4FirmwarePlugin.h"
#include "PX4AutopioltPlugins/PX4AutopilotPlugin.h"
#include "ParameterLoader.h"
#include "QuadApplication.h"
#include "linkmanager.h"
#include "UAS.h"
#include <QDebug>
struct Modes2Name {
uint8_t main_mode;
uint8_t sub_mode;
const char* name;
bool canBeSet;
};
static const struct Modes2Name modes2name[] ={
{ PX4_CUSTOM_MAIN_MODE_MANUAL , 0 , "Manual" , true},
{ PX4_CUSTOM_MAIN_MODE_STABILIZED , 0 , "Stabilized" , true},
{ PX4_CUSTOM_MAIN_MODE_ALTCTL , 0 , "Altitude Control" , true},
{ PX4_CUSTOM_MAIN_MODE_POSCTL , 0 , "Position Control" , true},
{ PX4_CUSTOM_MAIN_MODE_OFFBOARD , 0 , "Offboard Control" ,true},
{ PX4_CUSTOM_MAIN_MODE_AUTO , PX4_CUSTOM_SUB_MODE_AUTO_LOITER , "Loiter" , true},
{ PX4_CUSTOM_MAIN_MODE_AUTO , PX4_CUSTOM_SUB_MODE_AUTO_RTL , "Return To Land" , true},
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_MISSION, "Mission", true},
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LAND, "Landing", false},
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_READY, "Ready", false},
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF, "Takeoff", false},
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTGS, "Return, Link Loss", false},
};
Vehicle::Vehicle(SerialLink* link, int vehicleId, MAV_TYPE vehicleType, PX4FirmwarePlugin *firmwarePlugin)
: _autopilotPlugin(NULL)
, _vehicleId(vehicleId)
, _vehicleType(vehicleType)
, _link(NULL)
, _active(false)
, _uas(NULL)
, _parameterLoader(NULL)
, _armed(false)
, _base_mode(0)
, _custom_mode(0)
, _firmwarePlugin(firmwarePlugin)
{
//qDebug()<<"vehicle";
_addLink(link);
_autopilotPlugin = new PX4AutopilotPlugin(this,this);
_linkMgr = qgcApp()->toolbox()->linkManager();
connect(_linkMgr,&LinkManager::messageReceived,this,&Vehicle::_mavlinkMessageReceived);
_uas = new UAS(this);
connect (_uas,&UAS::statusChanged,qgcApp()->mainWindow(),&MainWindow::_statusChanged);
_parameterLoader = new ParameterLoader(this,this);
connect(_parameterLoader,&ParameterLoader::paramsReady,_autopilotPlugin,&PX4AutopilotPlugin::_parametersReadyPreCheck);
//connect (_uas,&UAS::parameterUpdate,_parameterLoader,&ParameterLoader::_parameterUpdate);
//connect(_parameterLoader,&ParameterLoader::readParameterRaw,this,&UAS::_readParameterRaw);
}
///For test
void Vehicle::_paramUpdate(int paramCount,QString paramName, FactMetaData::ValueType_t type, QVariant &value)
{
//qDebug()<<"Vehicle: _paramUpdate";
if(_parameterLoader) {
connect(this,&Vehicle::paramUpdate,_parameterLoader,&ParameterLoader::_paramUpdate);
emit paramUpdate(paramCount,paramName,type,value);
}
}
Vehicle::~Vehicle()
{
}
void Vehicle::_addLink(SerialLink* link)
{
if(!_link) {
_link = link;
connect(qgcApp()->toolbox()->linkManager(),&LinkManager::linkDisconnected,this,&Vehicle::_linkDeleted);
}
}
void Vehicle::_linkDeleted(SerialLink* link)
{
Q_UNUSED(link)
_link = NULL;
qDebug()<<"Vehicle : link deleted";
emit linkDeleted(this);
}
void Vehicle::setActive(bool active)
{
_active = active;
}
void Vehicle::_mavlinkMessageReceived(SerialLink*link, mavlink_message_t &message)
{
//qDebug()<<"vehicle: mavlinkMessageReceived";
if(_link != link){
_addLink(link);
}
if(!_heardFrom) {
if(message.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
_heardFrom = true;
_compID = message.compid;
}
}
switch(message.msgid) {
case MAVLINK_MSG_ID_HEARTBEAT:
_handleHeartbeat(message);
break;
//#1
case MAVLINK_MSG_ID_SYS_STATUS:
{
mavlink_sys_status_t sys_status;
mavlink_msg_sys_status_decode(&message,&sys_status);
emit batteryChanged(sys_status.voltage_battery);
}
break;
//#24
case MAVLINK_MSG_ID_GPS_RAW_INT:
{
mavlink_gps_raw_int_t gps_raw_int;
mavlink_msg_gps_raw_int_decode(&message,&gps_raw_int);
emit GPSStatusChanged(&gps_raw_int);
}
break;
//#30
case MAVLINK_MSG_ID_ATTITUDE:
{
mavlink_attitude_t attitude;
mavlink_msg_attitude_decode(&message, &attitude);
emit attitudeChanged(&attitude);
}
break;
//#32
case MAVLINK_MSG_ID_LOCAL_POSITION_NED:
{
mavlink_local_position_ned_t local_position;
mavlink_msg_local_position_ned_decode(&message, &local_position);
emit localPositionChanged(&local_position);
}
break;
//#33
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
{
mavlink_global_position_int_t global_position_int;
mavlink_msg_global_position_int_decode(&message, &global_position_int);
emit globalPositionChanged(&global_position_int);
}
break;
//#35
case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
{
mavlink_rc_channels_raw_t rc_channels_raw;
mavlink_msg_rc_channels_raw_decode(&message,&rc_channels_raw);
emit telemetryChanged(rc_channels_raw.rssi);
}
break;
//#65 We handle both RC_CHANNLES and RC_CHANNELS_RAW since different firmware will only
// send one or the other.
case MAVLINK_MSG_ID_RC_CHANNELS:
{
mavlink_rc_channels_t rc_channels;
mavlink_msg_rc_channels_decode(&message,&rc_channels);
uint16_t channelValues[maxRCChannelsCount] = {
rc_channels.chan1_raw,
rc_channels.chan2_raw,
rc_channels.chan3_raw,
rc_channels.chan4_raw,
rc_channels.chan5_raw,
rc_channels.chan6_raw,
rc_channels.chan7_raw,
rc_channels.chan8_raw,
rc_channels.chan9_raw,
rc_channels.chan10_raw,
rc_channels.chan11_raw,
rc_channels.chan12_raw,
rc_channels.chan13_raw,
rc_channels.chan14_raw,
rc_channels.chan15_raw,
rc_channels.chan16_raw,
rc_channels.chan17_raw,
rc_channels.chan18_raw,
};
int pwmValues[maxRCChannelsCount];
for(int i = 0; i <maxRCChannelsCount;i++) {
uint16_t channelValue = channelValues[i];
//assume that chancount < maxRcChannelsCount
if(i<rc_channels.chancount) {
pwmValues[i] = channelValue == UINT16_MAX? -1:channelValue;
}
else {
pwmValues[i] = -1;
}
}
emit telemetryChanged(rc_channels.rssi);
emit rcChannelsChanged(rc_channels.chancount,pwmValues);
}
break;
//#74
case MAVLINK_MSG_ID_VFR_HUD:
{
mavlink_vfr_hud_t vfr_hud;
mavlink_msg_vfr_hud_decode(&message,&vfr_hud);
emit groundSpeedChanged(vfr_hud.groundspeed);
}
break;
//#105,just for PX4
/* case MAVLINK_MSG_ID_HIGHRES_IMU:
{
mavlink_highres_imu_t pressure;
mavlink_msg_highres_imu_decode(&message,&pressure);
emit AltitudeChanged(pressure.pressure_alt);
}
break;
*/
default:
break;
}
_uas->receiveMessage(link,message);
}
void Vehicle::_handleHeartbeat(mavlink_message_t& message)
{
mavlink_heartbeat_t heartbeat;
mavlink_msg_heartbeat_decode(&message, &heartbeat);
bool modechanged = false;
bool armed = heartbeat.base_mode&MAV_MODE_FLAG_SAFETY_ARMED;
if(_armed != armed)
{
_armed = armed;
emit armedChanged(_armed);
}
if (_base_mode != heartbeat.base_mode || _custom_mode != heartbeat.custom_mode)
{
modechanged = true;
_base_mode = heartbeat.base_mode;
_custom_mode = heartbeat.custom_mode;
QString shortModeText = flightMode(_base_mode,_custom_mode);
//qDebug()<<shortModeText;
emit modeChanged(shortModeText);
}
}
QString Vehicle::flightMode(uint8_t baseMode, uint32_t customMode)
{
QString flightMode = "Unknown";
if(baseMode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED){
union px4_custom_mode px4_mode;
px4_mode.data = customMode;
bool found = false;
for(size_t i = 0;i<sizeof(modes2name)/sizeof(modes2name[0]);i++)
{
const struct Modes2Name* pModes2Name = &modes2name[i];
if(pModes2Name->main_mode == px4_mode.main_mode && pModes2Name->sub_mode == px4_mode.sub_mode){
flightMode = pModes2Name->name;
found = true;
break;
}
}
if(!found){
qDebug()<<"Unknown flight mode:"<<customMode;
}
}else{
qDebug()<<"PX4 Flight Stack flight mode without custom mode enabled?";
}
return flightMode;
}
QStringList Vehicle::flightModes()
{
QStringList flightModes;
for(size_t i = 0; i < sizeof(modes2name)/sizeof(modes2name[0]); i++)
{
const struct Modes2Name* pModes2Name = &modes2name[i];
if(pModes2Name->canBeSet) {
flightModes += pModes2Name->name;
}
}
return flightModes;
}