autopilot.hh

Go to the documentation of this file.

#pragma once


// 3rd party
#include <QDebug>
#include <QObject>
#include <mavlink/v1/common/mavlink.h>
// dfti
#include "mavlink_info.hh"
#include "sensor/serialsensor.hh"
#include "settings/settings.hh"


namespace dfti {



struct APData
{
    quint32 rcInTime;
    quint16 rcIn1;
    quint16 rcIn2;
    quint16 rcIn3;
    quint16 rcIn4;
    quint16 rcIn5;
    quint16 rcIn6;
    quint16 rcIn7;
    quint16 rcIn8;
    quint32 rcOutTime;
    quint16 rcOut1;
    quint16 rcOut2;
    quint16 rcOut3;
    quint16 rcOut4;
    quint16 rcOut5;
    quint16 rcOut6;
    quint16 rcOut7;
    quint16 rcOut8;
};


class Autopilot : public SerialSensor
{
    Q_OBJECT;

public:

    explicit Autopilot(Settings *_settings, QObject* _parent = nullptr);


    void open(void);



    void requestStream(quint8 streamId, quint16 streamRate, quint8 enabled);


    void getDataRate(quint16 msgId);


    void setDataRate(quint8 msgId, float msgRate);

public slots:
    void readData(void);

signals:
    void measurementUpdate(APData data);

private:
    bool gotMsg{false};

    quint8 systemId{0};

    quint8 compId{0};

    quint8 thisId{255};

    mavlink_message_t message;


    mavlink_status_t lastStatus;

    struct MavlinkTimestamps {
        MavlinkTimestamps() { reset(); }
        quint64 rcChannelsRaw;
        quint64 servoOutputRaw;
        void reset(void) { rcChannelsRaw = 0; servoOutputRaw = 0; }
    };

    MavlinkTimestamps timestamps;

    APData data;
};


};  // namespace dfti