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());
}
void UASActionsWidget::sendApmRoverCommand(MAV_CMD command)
{
QLOG_INFO() << "UASActionWidget::sendApmRoverCommand";
switch(command) {
case MAV_CMD_NAV_RETURN_TO_LAUNCH: {
/* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
Q_ASSERT(command == MAV_CMD_NAV_RETURN_TO_LAUNCH);
QLOG_INFO() << "MAV_CMD_NAV_RETURN_TO_LAUNCH";
int confirm = 1; // [TODO] Verify This is what ArduRover Does.
float param1 = 0.0; // Empty
float param2 = 0.0; // Empty
float param3 = 0.0; // [NOT USED] Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise
float param4 = 0.0; // Desired yaw angle.|
float param5 = 0.0; // Latitude
float param6 = 0.0; // Longitude
float param7 = 0.0; // Altitude
int component = MAV_COMP_ID_ALL;
m_uas->executeCommand(command,
confirm, param1, param2, param3,
param4, param5, param6, param7, component);
} break;
case MAV_CMD_PREFLIGHT_CALIBRATION: {
// Trigger calibration. This command will be only accepted if in pre-flight mode.
Q_ASSERT(command == MAV_CMD_PREFLIGHT_CALIBRATION);
QLOG_INFO() << "MAV_CMD_PREFLIGHT_CALIBRATION";
if (preFlightWarningBox() == QMessageBox::Abort)
return;
int confirm = 1;
float param1 = 1.0; // Gyro calibration: 0: no, 1: yes
float param2 = 0.0; // Magnetometer calibration: 0: no, 1: yes
float param3 = 0.0; // Ground pressure: 0: no, 1: yes
float param4 = 0.0; // Radio calibration: 0: no, 1: yes
float param5 = 0.0; // Accelerometer calibration: 0: no, 1: yes
float param6 = 0.0; // | Empty|
float param7 = 0.0; // | Empty|
int component = MAV_COMP_ID_ALL;
m_uas->executeCommand(command,
confirm, param1, param2, param3,
param4, param5, param6, param7, component);
} break;
case MAV_CMD_MISSION_START: {
// start running a mission last_item:
Q_ASSERT(command == MAV_CMD_MISSION_START);
QLOG_INFO() << "MAV_CMD_MISSION_START";
if (modeChangeWarningBox("Mission Start") == QMessageBox::Abort)
return;
int confirm = 1;
float param1 = 1.0; // first_item: the first mission item to run
float param2 = 0.0; // the last mission item to run (after this item is run, the mission ends)|
float param3 = 0.0; // | Empty|
float param4 = 0.0; // | Empty|
float param5 = 0.0; // | Empty|
float param6 = 0.0; // | Empty|
float param7 = 0.0; // | Empty|
int component = MAV_COMP_ID_ALL;
m_uas->executeCommand(command,
confirm, param1, param2, param3,
param4, param5, param6, param7, component);
} break;
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN: {
// Request the reboot or shutdown of system components.
Q_ASSERT(command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN);
QLOG_INFO() << "MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN";
if (preFlightWarningBox() == QMessageBox::Abort)
return;
int confirm = 1;
float param1 = 1.0; // | 0: Do nothing for autopilot 1: Reboot autopilot, 2: Shutdown autopilot.
float param2 = 1.0; // | 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.
float param3 = 0.0; // | Reserved|
float param4 = 0.0; // | Reserved|
float param5 = 0.0; // | Empty|
float param6 = 0.0; // | Empty|
float param7 = 0.0; // | Empty|
int component = MAV_COMP_ID_ALL;
m_uas->executeCommand(command,
confirm, param1, param2, param3,
param4, param5, param6, param7, component);
} break;
default:
QLOG_INFO() << "sendApmRoverCommand: Unknown Command " << command;
}
}
void UASActionsWidget::sendApmRoverCommand(MAV_CMD command)
{
QLOG_INFO() << "UASActionWidget::sendApmRoverCommand";
switch(command) {
case MAV_CMD_NAV_RETURN_TO_LAUNCH: {
/* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
Q_ASSERT(command == MAV_CMD_NAV_RETURN_TO_LAUNCH);
QLOG_INFO() << "MAV_CMD_NAV_RETURN_TO_LAUNCH";
int confirm = 1; // [TODO] Verify This is what ArduRover Does.
float param1 = 0.0; // Empty
float param2 = 0.0; // Empty
float param3 = 0.0; // [NOT USED] Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise
float param4 = 0.0; // Desired yaw angle.|
float param5 = 0.0; // Latitude
float param6 = 0.0; // Longitude
float param7 = 0.0; // Altitude
int component = MAV_COMP_ID_PRIMARY;
m_uas->executeCommand(command,
confirm, param1, param2, param3,
param4, param5, param6, param7, component);
} break;
case MAV_CMD_PREFLIGHT_CALIBRATION: {
// Trigger calibration. This command will be only accepted if in pre-flight mode.
showPreflightCalibrationDialog();
} break;
case MAV_CMD_MISSION_START: {
// start running a mission last_item:
Q_ASSERT(command == MAV_CMD_MISSION_START);
QLOG_INFO() << "MAV_CMD_MISSION_START";
if (modeChangeWarningBox("Mission Start") == QMessageBox::Abort)
return;
int confirm = 1;
float param1 = 1.0; // first_item: the first mission item to run
float param2 = 0.0; // the last mission item to run (after this item is run, the mission ends)|
float param3 = 0.0; // | Empty|
float param4 = 0.0; // | Empty|
float param5 = 0.0; // | Empty|
float param6 = 0.0; // | Empty|
float param7 = 0.0; // | Empty|
int component = MAV_COMP_ID_PRIMARY;
m_uas->executeCommand(command,
confirm, param1, param2, param3,
param4, param5, param6, param7, component);
} break;
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN: {
// Request the reboot or shutdown of system components.
Q_ASSERT(command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN);
QLOG_INFO() << "MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN";
if (preFlightWarningBox(this) == QMessageBox::Abort)
return;
int confirm = 1;
float param1 = 1.0; // | 0: Do nothing for autopilot 1: Reboot autopilot, 2: Shutdown autopilot.
float param2 = 1.0; // | 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.
float param3 = 0.0; // | Reserved|
float param4 = 0.0; // | Reserved|
float param5 = 0.0; // | Empty|
float param6 = 0.0; // | Empty|
float param7 = 0.0; // | Empty|
int component = MAV_COMP_ID_PRIMARY;
m_uas->executeCommand(command,
confirm, param1, param2, param3,
param4, param5, param6, param7, component);
} break;
case MAV_CMD_DO_DIGICAM_CONTROL: {
// Take a photo
Q_ASSERT(command == MAV_CMD_DO_DIGICAM_CONTROL);
QLOG_INFO() << "MAV_CMD_DO_DIGICAM_CONTROL";
int confirm = 1;
float param1 = 0.0; // | Session control e.g. show/hide lens
float param2 = 0.0; // | Zoom's absolute position
float param3 = 0.0; // | Zooming step value to offset zoom from the current position
float param4 = 0.0; // | Focus Locking, Unlocking or Re-locking
float param5 = 1.0; // | Shooting Command
float param6 = 0.0; // | Command Identity
float param7 = 0.0; // | Empty|
int component = MAV_COMP_ID_PRIMARY;
m_uas->executeCommand(command,
confirm, param1, param2, param3,
param4, param5, param6, param7, component);
} break;
default:
QLOG_INFO() << "sendApmRoverCommand: Unknown Command " << command;
}
}
