Serial driver to acquire data from a MAVLink-based autopilot. More...

#include <autopilot.hh>

Inheritance diagram for dfti::Autopilot:

Collaboration diagram for dfti::Autopilot:

Public Slots
void	readData (void)
	Slot to read in data over serial and parse complete packets.

Public Slots inherited from dfti::SerialSensor
virtual void	readData (void)=0
	Slot to read in data over serial and parse complete packets.

Signals
void	measurementUpdate (APData data)
	Emitted to share new APData.

Public Member Functions
	Autopilot (Settings _settings, QObject _parent=nullptr)
	Constructor. More...

void	open (void)
	Opens the serial port. More...

void	requestStream (quint8 streamId, quint16 streamRate, quint8 enabled)
	Request a MAVLink message at a given rate. More...

void	getDataRate (quint16 msgId)
	Request current MAVLink message data rate. More...

void	setDataRate (quint8 msgId, float msgRate)
	Request a MAVLink message at a given rate. More...

Public Member Functions inherited from dfti::SerialSensor
	SerialSensor (Settings _settings, QObject _parent=nullptr)
	Constructor. More...

	~SerialSensor ()
	Destructor.

void	configureSerial (QString _portName)
	Set the serial port parameters. More...

void	init ()
	Initialize the serial port.

bool	isOpen (void)
	Returns true if the serial port is open. More...

void	setBaudRate (quint32 rate)
	Set the serial port baud rate. More...

void	threadStart (void)
	Start the sensor in a thread.

Additional Inherited Members
Protected Member Functions inherited from dfti::SerialSensor
QString	validateSerialPort (QString _port)
	Validates a proposed serial port. More...

Protected Attributes inherited from dfti::SerialSensor
QPointer< Settings >	settings = nullptr
	Settings object.

QString	portName {""}
	Serial port name.

QSerialPort::BaudRate	baudRate {QSerialPort::Baud115200}
	Serial port baud rate.

bool	_valid_serial = false
	Indicates if serial port passed validation.

QPointer< QSerialPort >	_port = nullptr
	Serial port object.

Detailed Description

Serial driver to acquire data from a MAVLink-based autopilot.

Constructor & Destructor Documentation

explicit

Constructor.

Parameters

_settings	Pointer to Settings object.
_parent	Pointer to parent QObject.

void dfti::Autopilot::getDataRate ( quint16 msgId )

Request current MAVLink message data rate.

Remarks: See http://mavlink.org/messages/common for MAVLink message info. Note also that this should return a MESSAGE_INTERVAL message, so you should make sure this message is handled.

Parameters

msgId The MAVLink message ID.

void dfti::Autopilot::open ( void )

virtual

Opens the serial port.

Overrides the SerialSensor::open method to open the serial port as R/W.

Reimplemented from dfti::SerialSensor.

void dfti::Autopilot::requestStream	(	quint8	streamId,
		quint16	streamRate,
		quint8	enabled
	)

Request a MAVLink message at a given rate.

Deprecated:: REQUEST_DATA_STREAM is deprecated in favor of the MESSAGE_INTERVAL MAVLink message. However, at this time APM does not support this latter interface.

Remarks: See http://mavlink.org/messages/common for the MAVLink MAV_DATA_STREAM enum.

Parameters

streamId	The MAVLink stream ID.
streamRate	Requested rate of the stream in Hz.
enabled	Use 1 to enable the stream and 0 to disabled.

void dfti::Autopilot::setDataRate	(	quint8	msgId,
		float	msgRate
	)

Request a MAVLink message at a given rate.

Parameters

msgId	The MAVLink message ID.
msgRate	Requested rate of the message in microseconds. To disable output, use -1, and to reset to the default rate, use 0.

The documentation for this class was generated from the following files: