void UASActionsWidget::goToWaypointClicked()
{
if(!activeUas())
return;
QLOG_INFO() << "Go to Waypoint" << ui.waypointListComboBox->currentIndex();
m_uas->getWaypointManager()->setCurrentWaypoint(ui.waypointListComboBox->currentIndex());
}
void UASActionsWidget::setRTLMode()
{
if(!activeUas())
return;
QLOG_INFO() << "UASActionsWidget::setRTLMode()";
switch (m_uas->getAutopilotType()) {
case MAV_AUTOPILOT_ARDUPILOTMEGA: {
int idx = ui.modeComboBox->findText("RTL");
int mode = ui.modeComboBox->itemData(idx).toInt();
m_uas->setMode(MAV_MODE_FLAG_CUSTOM_MODE_ENABLED,
mode);
} break;
case MAV_AUTOPILOT_PX4: {
// [TODO] PX4 flight controller go here
}
case MAV_AUTOPILOT_GENERIC:
default: {
// [TODO] Generic, and other flight controllers here (or own sections as above)
}
}
}
void UASActionsWidget::setMode()
{
QLOG_INFO() << " UASActionsWidget::setMode()";
if(!activeUas())
return;
QLOG_INFO() << "Set Mode to "
<< ui.modeComboBox->itemData(ui.modeComboBox->currentIndex()).toInt();
m_uas->setMode(MAV_MODE_FLAG_CUSTOM_MODE_ENABLED,
ui.modeComboBox->itemData(ui.modeComboBox->currentIndex()).toInt());
}
void UASActionsWidget::updateWaypointList()
{
if(!activeUas())
return;
QLOG_INFO() << "updateWaypointList: ";
ui.waypointListComboBox->clear();
for (int i=0;i<m_uas->getWaypointManager()->getWaypointEditableList().size();i++)
{
QLOG_INFO() << " WP:" << i;
ui.waypointListComboBox->addItem(QString::number(i));
}
}
void UASActionsWidget::setShortcutMode()
{
QLOG_INFO() << " UASActionsWidget::setShortcutMode()";
if(!activeUas())
return;
QLOG_INFO() << "Set Mode to "
<< ui.shortcutButtonGroup->checkedButton()->text();
int index = ui.modeComboBox->findText(ui.shortcutButtonGroup->checkedButton()->text());
QLOG_DEBUG() << "index: "
<< index;
ui.modeComboBox->setCurrentIndex(index);
m_uas->setMode(MAV_MODE_FLAG_CUSTOM_MODE_ENABLED,
ui.modeComboBox->itemData(ui.modeComboBox->currentIndex()).toInt());
}
void UASActionsWidget::armButtonClicked()
{
QLOG_INFO() << "UASActionsWidget::armButtonClicked";
if(!activeUas())
return;
if (m_uas->isArmed())
{
QLOG_INFO() << "UAS:: Attempt to Disarm System";
m_uas->disarmSystem();
}
else
{
QLOG_INFO() << "UAS:: Attempt to Arm System";
m_uas->armSystem();
}
}
void UASActionsWidget::changeSpeedClicked()
{
if(!activeUas())
return;
QLOG_INFO() << "Change Vehicle Speed ";
if (m_uas->isMultirotor())
{
QLOG_INFO() << "APMCopter: setting WPNAV_SPEED: " << ui.speedDoubleSpinBox->value() * 100.0f;
m_uas->setParameter(1,"WPNAV_SPEED",
QVariant((static_cast<float>(ui.speedDoubleSpinBox->value() * 100.0f))));
return;
}
else if (m_uas->isFixedWing())
{
// [TODO} need to add AirSpeed/GroundSpeed options here as well
QVariant variant;
if (m_uas->getParamManager()->getParameterValue(1,"ARSPD_ENABLE",variant))
{
if (variant.toInt() == 1)
{
QLOG_INFO() << "APMPlane: ARSPD_ENABLED setting TRIM_ARSPD_CN";
m_uas->setParameter(1,"TRIM_ARSPD_CN",
QVariant((static_cast<float>(ui.speedDoubleSpinBox->value() * 100.0f))));
return;
}
}
QLOG_INFO() << "APMPlane: setting TRIM_ARSPD_CN";
m_uas->setParameter(1,"TRIM_ARSPD_CN",
QVariant((static_cast<float>(ui.speedDoubleSpinBox->value() * 100.0f))));
} else if (m_uas->isGroundRover()) {
QLOG_INFO() << "APMCopter: setting CRUISE_SPEED: " << ui.speedDoubleSpinBox->value() * 100.0f;
m_uas->setParameter(1, "CRUISE_SPEED",
QVariant((static_cast<float>(ui.speedDoubleSpinBox->value() * 100.0f))));
}
}
void UASActionsWidget::setAction()
{
QLOG_INFO() << "UASActionsWidget::setAction()";
if(!activeUas())
return;
QLOG_INFO() << "Set Action to " << ui.actionComboBox->currentIndex();
int currentIndex = ui.actionComboBox->currentIndex();
MAV_CMD currentCommand = static_cast<MAV_CMD>(ui.actionComboBox->itemData(currentIndex).toInt());
switch (m_uas->getAutopilotType()) {
case MAV_AUTOPILOT_ARDUPILOTMEGA: {
if (m_uas->isFixedWing()){
sendApmPlaneCommand(currentCommand);
} else if (m_uas->isMultirotor()){
sendApmCopterCommand(currentCommand);
} else if (m_uas->isGroundRover()){
sendApmRoverCommand(currentCommand);
} else {
QLOG_WARN() << "UASActionWidget: Unsupported System Type" << m_uas->getSystemType();
}
} break;
case MAV_AUTOPILOT_PX4: {
// [TODO] PX4 flight controller go here
}
case MAV_AUTOPILOT_GENERIC:
default: {
// [TODO] Generic, and other flight controllers here (or own sections as above)
}
}
}
void UASActionsWidget::setShortcutMode()
{
QLOG_INFO() << " UASActionsWidget::setShortcutMode()";
if(!activeUas())
return;
QLOG_INFO() << "Set Mode to "
<< ui.shortcutButtonGroup->checkedButton()->text();
QString modeString;
modeString = ui.shortcutButtonGroup->checkedButton()->text();
int index = ui.modeComboBox->findText(modeString);
QLOG_DEBUG() << "index: "
<< index;
if (modeChangeWarningBox(modeString) == QMessageBox::Abort){
return;
}
ui.modeComboBox->setCurrentIndex(index);
m_uas->setMode(MAV_MODE_FLAG_CUSTOM_MODE_ENABLED,
ui.modeComboBox->itemData(ui.modeComboBox->currentIndex()).toInt());
}