diff --git a/Modules/CommandPad/commandpad.cpp b/Modules/CommandPad/commandpad.cpp index 3ad65a420cc8ce64f5133c933c54926721369b41..5b7fadd13b64522528524928f4f2ed3cce17567b 100644 --- a/Modules/CommandPad/commandpad.cpp +++ b/Modules/CommandPad/commandpad.cpp @@ -9,12 +9,12 @@ const QMap<QString, uint8_t> CommandPad::systemTMList { { "MAV_LOGGER_ID", 4 }, { "MAV_MAVLINK_STATS", 5 }, { "MAV_TASK_STATS_ID", 6 }, - { "MAV_DPL_ID", 7 }, + // { "MAV_DPL_ID", 7 }, { "MAV_ADA_ID", 8 }, { "MAV_NAS_ID", 9 }, { "MAV_CAN_ID", 10 }, { "MAV_FLIGHT_ID", 11 }, - { "MAV_FLIGHT_STATS_ID", 12 }, + { "MAV_STATS_ID", 12 }, { "MAV_SENSORS_STATE_ID", 13 } }; @@ -25,13 +25,14 @@ const QMap<QString, uint8_t> CommandPad::sensorsTMList = { { "MAV_MPU9250_ID", 4 }, { "MAV_ADS_ID", 5 }, { "MAV_MS5803_ID", 6 }, - { "MAV_CURRENT_SENSE_ID", 7 }, - { "MAV_LIS3MDL_ID", 8 }, - { "MAV_DPL_PRESS_ID", 9 }, - { "MAV_STATIC_PRESS_ID", 10 }, - { "MAV_PITOT_PRESS_ID", 11 }, - { "MAV_BATTERY_VOLTAGE_ID", 12 }, - { "MAV_STRAIN_GAUGE_ID", 13 }, + { "MAV_BME280_ID", 7 }, + { "MAV_CURRENT_SENSE_ID", 8 }, + { "MAV_LIS3MDL_ID", 9 }, + { "MAV_DPL_PRESS_ID", 10 }, + { "MAV_STATIC_PRESS_ID", 11 }, + { "MAV_PITOT_PRESS_ID", 12 }, + { "MAV_BATTERY_VOLTAGE_ID", 13 }, + { "MAV_STRAIN_GAUGE_ID", 14 }, }; const QMap<QString, uint8_t> CommandPad::mavCommandList = { @@ -142,12 +143,15 @@ void CommandPad::setupUi() { _CMD(command, "COMMAND_TC") _CMD_COMBO_PROP(command, command_id, mavCommandList) _CMD_END - _CMD(systemTelemetry, "SYSTEM_TELEMETRY_REQUEST_TC") + _CMD(systemTelemetry, "SYSTEM_TM_REQUEST_TC") _CMD_COMBO_PROP(systemTelemetry, tm_id, systemTMList) _CMD_END - _CMD(sensorTelemetry, "SENSOR_TELEMETRY_REQUEST_TC") + _CMD(sensorTelemetry, "SENSOR_TM_REQUEST_TC") _CMD_COMBO_PROP(sensorTelemetry, sensor_id, sensorsTMList) _CMD_END + _CMD(servoTelemetry, "SERVO_TM_REQUEST_TC") + _CMD_COMBO_PROP(servoTelemetry, servo_id, servosList) + _CMD_END _CMD(setServoAngle, "SET_SERVO_ANGLE_TC") _CMD_COMBO_PROP(setServoAngle, servo_id, servosList) _CMD_FLOAT_PROP(setServoAngle, angle) @@ -180,6 +184,13 @@ void CommandPad::setupUi() { _CMD_UINT8_PROP(rawEvent, topic_id) _CMD_UINT8_PROP(rawEvent, event_id) _CMD_END + _CMD(targetCoordinates, "SET_TARGET_COORDINATES_TC") + _CMD_FLOAT_PROP(targetCoordinates, latitude) + _CMD_FLOAT_PROP(targetCoordinates, longitude) + _CMD_END + _CMD(algorithm, "SET_ALGORITHM_TC") + _CMD_UINT8_PROP(algorithm, algorithm_number) + _CMD_END QPushButton* send = new QPushButton(tr("Send")); connect(send, &QPushButton::clicked, [ = ]() { @@ -188,12 +199,15 @@ void CommandPad::setupUi() { _SEND(command, "COMMAND_TC") _SEND_COMBO_PROP(command, command_id, mavCommandList) _SEND_END - _SEND(systemTelemetry, "SYSTEM_TELEMETRY_REQUEST_TC") + _SEND(systemTelemetry, "SYSTEM_TM_REQUEST_TC") _SEND_COMBO_PROP(systemTelemetry, tm_id, systemTMList) _SEND_END - _SEND(sensorTelemetry, "SENSOR_TELEMETRY_REQUEST_TC") + _SEND(sensorTelemetry, "SENSOR_TM_REQUEST_TC") _SEND_COMBO_PROP(sensorTelemetry, sensor_id, sensorsTMList) _SEND_END + _SEND(servoTelemetry, "SERVO_TM_REQUEST_TC") + _SEND_COMBO_PROP(servoTelemetry, servo_id, servosList) + _SEND_END _SEND(setServoAngle, "SET_SERVO_ANGLE_TC") _SEND_COMBO_PROP(setServoAngle, servo_id, servosList) _SEND_FLOAT_PROP(setServoAngle, angle) @@ -226,6 +240,13 @@ void CommandPad::setupUi() { _SEND_UINT8_PROP(rawEvent, topic_id) _SEND_UINT8_PROP(rawEvent, event_id) _SEND_END + _SEND(targetCoordinates, "SET_TARGET_COORDINATES_TC") + _SEND_FLOAT_PROP(targetCoordinates, latitude) + _SEND_FLOAT_PROP(targetCoordinates, longitude) + _SEND_END + _SEND(algorithm, "SET_ALGORITHM_TC") + _SEND_UINT8_PROP(algorithm, algorithm_number) + _SEND_END }); QVBoxLayout* layout = new QVBoxLayout; diff --git a/Modules/Mavlink/mavlinkcommandadapter.cpp b/Modules/Mavlink/mavlinkcommandadapter.cpp index 2ec462fcd0b228cb37c0c7a9214459e20622b533..2b44645e3b3319b82d4c3de71dcb4e71956b8f18 100644 --- a/Modules/Mavlink/mavlinkcommandadapter.cpp +++ b/Modules/Mavlink/mavlinkcommandadapter.cpp @@ -22,11 +22,14 @@ bool MavlinkCommandAdapter::encodeCommand(const ModuleMessage& msg, mavlink_mess } else if(messageName == "COMMAND_TC") { mavlink_msg_command_tc_pack(MAV_SYS, MAV_CMP, &output, msg.getField("command_id").getUInteger(0)); return true; - } else if(messageName == "SYSTEM_TELEMETRY_REQUEST_TC") { - mavlink_msg_system_telemetry_request_tc_pack(MAV_SYS, MAV_CMP, &output, msg.getField("tm_id").getUInteger(0)); + } else if(messageName == "SYSTEM_TM_REQUEST_TC") { + mavlink_msg_system_tm_request_tc_pack(MAV_SYS, MAV_CMP, &output, msg.getField("tm_id").getUInteger(0)); return true; - } else if(messageName == "SENSOR_TELEMETRY_REQUEST_TC") { - mavlink_msg_sensor_telemetry_request_tc_pack(MAV_SYS, MAV_CMP, &output, msg.getField("sensor_id").getUInteger(0)); + } else if(messageName == "SENSOR_TM_REQUEST_TC") { + mavlink_msg_sensor_tm_request_tc_pack(MAV_SYS, MAV_CMP, &output, msg.getField("sensor_id").getUInteger(0)); + return true; + } else if(messageName == "SERVO_TM_REQUEST_TC") { + mavlink_msg_servo_tm_request_tc_pack(MAV_SYS, MAV_CMP, &output, msg.getField("servo_id").getUInteger(0)); return true; } else if(messageName == "SET_SERVO_ANGLE_TC") { mavlink_msg_set_servo_angle_tc_pack(MAV_SYS, MAV_CMP, &output, msg.getField("servo_id").getUInteger(0), msg.getField("angle").getDouble(0.0)); @@ -58,6 +61,12 @@ bool MavlinkCommandAdapter::encodeCommand(const ModuleMessage& msg, mavlink_mess } else if(messageName == "RAW_EVENT_TC") { mavlink_msg_raw_event_tc_pack(MAV_SYS, MAV_CMP, &output, msg.getField("topic_id").getUInteger(0), msg.getField("event_id").getUInteger(0)); return true; + } else if(messageName == "SET_TARGET_COORDINATES_TC") { + mavlink_msg_set_target_coordinates_tc_pack(MAV_SYS, MAV_CMP, &output, msg.getField("latitude").getUInteger(0), msg.getField("longitude").getUInteger(0)); + return true; + } else if(messageName == "SET_ALGORITHM_TC") { + mavlink_msg_set_algorithm_tc_pack(MAV_SYS, MAV_CMP, &output, msg.getField("algorithm_number").getUInteger(0)); + return true; } return false; }