Vehicle: Move Generic Code to MAVLink Module

src/AutoPilotPlugins/APM/APMSensorsComponent.qml

@@ -22,6 +22,7 @@ import QGroundControl.ScreenTools
 import QGroundControl.Controllers
 import QGroundControl.ArduPilot
 import QGroundControl.QGCPositionManager
+import MAVLink
 
 SetupPage {
     id:             sensorsPage
@@ -166,8 +167,8 @@ SetupPage {
 
                 onCalibrationComplete: {
                     switch (calType) {
-                    case APMSensorsComponentController.CalTypeAccel:
-                    case APMSensorsComponentController.CalTypeOnboardCompass:
+                    case MAVLink.CalibrationAccel:
+                    case MAVLink.CalibrationMag:
                         _singleCompassSettingsComponentShowPriority = true
                         postOnboardCompassCalibrationComponent.createObject(mainWindow).open()
                         break

src/AutoPilotPlugins/APM/APMSensorsComponentController.cc

@@ -32,7 +32,7 @@ APMSensorsComponentController::APMSensorsComponentController(void)
     , _nextButton(nullptr)
     , _cancelButton(nullptr)
     , _showOrientationCalArea(false)
-    , _calTypeInProgress(CalTypeNone)
+    , _calTypeInProgress(QGCMAVLink::CalibrationNone)
     , _orientationCalDownSideDone(false)
     , _orientationCalUpsideDownSideDone(false)
     , _orientationCalLeftSideDone(false)
@@ -101,10 +101,10 @@ void APMSensorsComponentController::_startLogCalibration(void)
     connect(_vehicle, &Vehicle::textMessageReceived, this, &APMSensorsComponentController::_handleUASTextMessage);
 
     emit setAllCalButtonsEnabled(false);
-    if (_calTypeInProgress == CalTypeAccel || _calTypeInProgress == CalTypeCompassMot) {
+    if (_calTypeInProgress == QGCMAVLink::CalibrationAccel || _calTypeInProgress == QGCMAVLink::CalibrationAPMCompassMot) {
         _nextButton->setEnabled(true);
     }
-    _cancelButton->setEnabled(_calTypeInProgress == CalTypeOnboardCompass);
+    _cancelButton->setEnabled(_calTypeInProgress == QGCMAVLink::CalibrationMag);
 
     connect(qgcApp()->toolbox()->mavlinkProtocol(), &MAVLinkProtocol::messageReceived, this, &APMSensorsComponentController::_mavlinkMessageReceived);
 }
@@ -159,7 +159,7 @@ void APMSensorsComponentController::_stopCalibration(APMSensorsComponentControll
     _nextButton->setEnabled(false);
     _cancelButton->setEnabled(false);
 
-    if (_calTypeInProgress == CalTypeOnboardCompass) {
+    if (_calTypeInProgress == QGCMAVLink::CalibrationMag) {
         _restorePreviousCompassCalFitness();
     }
 
@@ -201,7 +201,7 @@ void APMSensorsComponentController::_stopCalibration(APMSensorsComponentControll
         break;
     }
 
-    _calTypeInProgress = CalTypeNone;
+    _calTypeInProgress = QGCMAVLink::CalibrationNone;
 }
 
 void APMSensorsComponentController::_mavCommandResult(int vehicleId, int component, int command, int result, bool noReponseFromVehicle)
@@ -217,7 +217,7 @@ void APMSensorsComponentController::_mavCommandResult(int vehicleId, int compone
         disconnect(_vehicle, &Vehicle::mavCommandResult, this, &APMSensorsComponentController::_mavCommandResult);
         if (result == MAV_RESULT_ACCEPTED) {
             // Onboard mag cal is supported
-            _calTypeInProgress = CalTypeOnboardCompass;
+            _calTypeInProgress = QGCMAVLink::CalibrationMag;
             _rgCompassCalProgress[0] = 0;
             _rgCompassCalProgress[1] = 0;
             _rgCompassCalProgress[2] = 0;
@@ -305,11 +305,11 @@ void APMSensorsComponentController::calibrateCompassNorth(float lat, float lon,
 void APMSensorsComponentController::calibrateAccel(bool doSimpleAccelCal)
 {
 
-    _calTypeInProgress = CalTypeAccel;
+    _calTypeInProgress = QGCMAVLink::CalibrationAccel;
     if (doSimpleAccelCal) {
         _startLogCalibration();
-        _calTypeInProgress = CalTypeAccelFast;
-        _vehicle->startCalibration(Vehicle::CalibrationAPMAccelSimple);
+        _calTypeInProgress = QGCMAVLink::CalibrationAPMAccelSimple;
+        _vehicle->startCalibration(_calTypeInProgress);
         return;
     }
     _vehicle->vehicleLinkManager()->setCommunicationLostEnabled(false);
@@ -339,7 +339,7 @@ void APMSensorsComponentController::calibrateAccel(bool doSimpleAccelCal)
     _orientationCalTailDownSideVisible = false;
     _orientationCalNoseDownSideVisible = false;
 
-    _calTypeInProgress = CalTypeAccel;
+    _calTypeInProgress = QGCMAVLink::CalibrationAccel;
     _orientationCalDownSideVisible = true;
     _orientationCalUpsideDownSideVisible = true;
     _orientationCalLeftSideVisible = true;
@@ -352,45 +352,45 @@ void APMSensorsComponentController::calibrateAccel(bool doSimpleAccelCal)
     emit orientationCalSidesInProgressChanged();
     _updateAndEmitShowOrientationCalArea(true);
 
-    _vehicle->startCalibration(Vehicle::CalibrationAccel);
+    _vehicle->startCalibration(_calTypeInProgress);
 }
 
 void APMSensorsComponentController::calibrateMotorInterference(void)
 {
-    _calTypeInProgress = CalTypeCompassMot;
+    _calTypeInProgress = QGCMAVLink::CalibrationAPMCompassMot;
     _vehicle->vehicleLinkManager()->setCommunicationLostEnabled(false);
     _startLogCalibration();
     _appendStatusLog(tr("Raise the throttle slowly to between 50% ~ 75% (the props will spin!) for 5 ~ 10 seconds."));
     _appendStatusLog(tr("Quickly bring the throttle back down to zero"));
     _appendStatusLog(tr("Press the Next button to complete the calibration"));
-    _vehicle->startCalibration(Vehicle::CalibrationAPMCompassMot);
+    _vehicle->startCalibration(_calTypeInProgress);
 }
 
 void APMSensorsComponentController::levelHorizon(void)
 {
-    _calTypeInProgress = CalTypeLevelHorizon;
+    _calTypeInProgress = QGCMAVLink::CalibrationLevel;
     _vehicle->vehicleLinkManager()->setCommunicationLostEnabled(false);
     _startLogCalibration();
     _appendStatusLog(tr("Hold the vehicle in its level flight position."));
-    _vehicle->startCalibration(Vehicle::CalibrationLevel);
+    _vehicle->startCalibration(_calTypeInProgress);
 }
 
 void APMSensorsComponentController::calibratePressure(void)
 {
-    _calTypeInProgress = CalTypePressure;
+    _calTypeInProgress = QGCMAVLink::CalibrationAPMPressureAirspeed;
     _vehicle->vehicleLinkManager()->setCommunicationLostEnabled(false);
     _startLogCalibration();
     _appendStatusLog(tr("Requesting pressure calibration..."));
-    _vehicle->startCalibration(Vehicle::CalibrationAPMPressureAirspeed);
+    _vehicle->startCalibration(_calTypeInProgress);
 }
 
 void APMSensorsComponentController::calibrateGyro(void)
 {
-    _calTypeInProgress = CalTypeGyro;
+    _calTypeInProgress = QGCMAVLink::CalibrationGyro;
     _vehicle->vehicleLinkManager()->setCommunicationLostEnabled(false);
     _startLogCalibration();
     _appendStatusLog(tr("Requesting gyro calibration..."));
-    _vehicle->startCalibration(Vehicle::CalibrationGyro);
+    _vehicle->startCalibration(_calTypeInProgress);
 }
 
 void APMSensorsComponentController::_handleUASTextMessage(int uasId, int compId, int severity, QString text)
@@ -446,7 +446,7 @@ void APMSensorsComponentController::cancelCalibration(void)
 {
     _cancelButton->setEnabled(false);
 
-    if (_calTypeInProgress == CalTypeOnboardCompass) {
+    if (_calTypeInProgress == QGCMAVLink::CalibrationMag) {
         _vehicle->sendMavCommand(_vehicle->defaultComponentId(), MAV_CMD_DO_CANCEL_MAG_CAL, true /* showError */);
         _stopCalibration(StopCalibrationCancelled);
     } else {
@@ -479,7 +479,7 @@ void APMSensorsComponentController::nextClicked(void)
 
         _vehicle->sendMessageOnLinkThreadSafe(sharedLink.get(), msg);
 
-        if (_calTypeInProgress == CalTypeCompassMot) {
+        if (_calTypeInProgress == QGCMAVLink::CalibrationAPMCompassMot) {
             _stopCalibration(StopCalibrationSuccess);
         }
     }
@@ -508,7 +508,7 @@ bool APMSensorsComponentController::usingUDPLink(void)
 
 void APMSensorsComponentController::_handleCommandAck(mavlink_message_t& message)
 {
-    if (_calTypeInProgress == CalTypeLevelHorizon || _calTypeInProgress == CalTypeGyro || _calTypeInProgress == CalTypePressure || _calTypeInProgress == CalTypeAccelFast) {
+    if (_calTypeInProgress == QGCMAVLink::CalibrationLevel || _calTypeInProgress == QGCMAVLink::CalibrationGyro || _calTypeInProgress == QGCMAVLink::CalibrationAPMPressureAirspeed || _calTypeInProgress == QGCMAVLink::CalibrationAPMAccelSimple) {
         mavlink_command_ack_t commandAck;
         mavlink_msg_command_ack_decode(&message, &commandAck);
 
@@ -532,7 +532,7 @@ void APMSensorsComponentController::_handleCommandAck(mavlink_message_t& message
 
 void APMSensorsComponentController::_handleMagCalProgress(mavlink_message_t& message)
 {
-    if (_calTypeInProgress == CalTypeOnboardCompass) {
+    if (_calTypeInProgress == QGCMAVLink::CalibrationMag) {
         mavlink_mag_cal_progress_t magCalProgress;
         mavlink_msg_mag_cal_progress_decode(&message, &magCalProgress);
 
@@ -560,7 +560,7 @@ void APMSensorsComponentController::_handleMagCalProgress(mavlink_message_t& mes
 
 void APMSensorsComponentController::_handleMagCalReport(mavlink_message_t& message)
 {
-    if (_calTypeInProgress == CalTypeOnboardCompass) {
+    if (_calTypeInProgress == QGCMAVLink::CalibrationMag) {
         mavlink_mag_cal_report_t magCalReport;
         mavlink_msg_mag_cal_report_decode(&message, &magCalReport);
 

src/AutoPilotPlugins/APM/APMSensorsComponentController.h

@@ -10,7 +10,7 @@
 #pragma once
 
 #include "FactPanelController.h"
-#include "MAVLinkLib.h"
+#include "QGCMAVLink.h"
 
 #include <QtQuick/QQuickItem>
 #include <QtCore/QObject>
@@ -95,18 +95,6 @@ class APMSensorsComponentController : public FactPanelController
     bool compassSetupNeeded (void) const;
     bool accelSetupNeeded   (void) const;
 
-    typedef enum {
-        CalTypeAccel,
-        CalTypeGyro,
-        CalTypeOnboardCompass,
-        CalTypeLevelHorizon,
-        CalTypeCompassMot,
-        CalTypePressure,
-        CalTypeAccelFast,
-        CalTypeNone
-    } CalType_t;
-    Q_ENUM(CalType_t)
-
     bool compass1CalSucceeded(void) const { return _rgCompassCalSucceeded[0]; }
     bool compass2CalSucceeded(void) const { return _rgCompassCalSucceeded[1]; }
     bool compass3CalSucceeded(void) const { return _rgCompassCalSucceeded[2]; }
@@ -125,7 +113,7 @@ class APMSensorsComponentController : public FactPanelController
     void resetStatusTextArea                    (void);
     void waitingForCancelChanged                (void);
     void setupNeededChanged                     (void);
-    void calibrationComplete                    (CalType_t calType);
+    void calibrationComplete                    (QGCMAVLink::CalibrationType calType);
     void compass1CalSucceededChanged            (bool compass1CalSucceeded);
     void compass2CalSucceededChanged            (bool compass2CalSucceeded);
     void compass3CalSucceededChanged            (bool compass3CalSucceeded);
@@ -172,7 +160,7 @@ private slots:
 
     bool _showOrientationCalArea;
 
-    CalType_t _calTypeInProgress;
+    QGCMAVLink::CalibrationType _calTypeInProgress;
 
     uint8_t _rgCompassCalProgress[3];
     bool    _rgCompassCalComplete[3];

src/AutoPilotPlugins/Common/RadioComponentController.cc

@@ -800,7 +800,7 @@ void RadioComponentController::_startCalibration(void)
     _resetInternalCalibrationValues();
 
     // Let the mav known we are starting calibration. This should turn off motors and so forth.
-    _vehicle->startCalibration(Vehicle::CalibrationRadio);
+    _vehicle->startCalibration(QGCMAVLink::CalibrationRadio);
 
     _nextButton->setProperty("text", tr("Next"));
     _cancelButton->setEnabled(true);
@@ -1025,7 +1025,7 @@ void RadioComponentController::_signalAllAttitudeValueChanges(void)
 
 void RadioComponentController::copyTrims(void)
 {
-    _vehicle->startCalibration(Vehicle::CalibrationCopyTrims);
+    _vehicle->startCalibration(QGCMAVLink::CalibrationCopyTrims);
 }
 
 bool RadioComponentController::_px4Vehicle(void) const

src/AutoPilotPlugins/PX4/PowerComponentController.cc

@@ -19,7 +19,7 @@ void PowerComponentController::calibrateEsc(void)
 {
     _warningMessages.clear();
     connect(_vehicle, &Vehicle::textMessageReceived, this, &PowerComponentController::_handleVehicleTextMessage);
-    _vehicle->startCalibration(Vehicle::CalibrationEsc);
+    _vehicle->startCalibration(QGCMAVLink::CalibrationEsc);
 }
 
 void PowerComponentController::startBusConfigureActuators(void)

src/AutoPilotPlugins/PX4/SensorsComponentController.cc

@@ -196,31 +196,31 @@ void SensorsComponentController::_stopCalibration(SensorsComponentController::St
 void SensorsComponentController::calibrateGyro(void)
 {
     _startLogCalibration();
-    _vehicle->startCalibration(Vehicle::CalibrationGyro);
+    _vehicle->startCalibration(QGCMAVLink::CalibrationGyro);
 }
 
 void SensorsComponentController::calibrateCompass(void)
 {
     _startLogCalibration();
-    _vehicle->startCalibration(Vehicle::CalibrationMag);
+    _vehicle->startCalibration(QGCMAVLink::CalibrationMag);
 }
 
 void SensorsComponentController::calibrateAccel(void)
 {
     _startLogCalibration();
-    _vehicle->startCalibration(Vehicle::CalibrationAccel);
+    _vehicle->startCalibration(QGCMAVLink::CalibrationAccel);
 }
 
 void SensorsComponentController::calibrateLevel(void)
 {
     _startLogCalibration();
-    _vehicle->startCalibration(Vehicle::CalibrationLevel);
+    _vehicle->startCalibration(QGCMAVLink::CalibrationLevel);
 }
 
 void SensorsComponentController::calibrateAirspeed(void)
 {
     _startLogCalibration();
-    _vehicle->startCalibration(Vehicle::CalibrationPX4Airspeed);
+    _vehicle->startCalibration(QGCMAVLink::CalibrationPX4Airspeed);
 }
 
 void SensorsComponentController::_handleUASTextMessage(int uasId, int compId, int severity, QString text)

src/MAVLink/ImageProtocolManager.h

@@ -13,8 +13,8 @@
 
 #include <QtCore/QObject>
 #include <QtCore/QByteArray>
-#include <QtGui/QImage>
 #include <QtCore/QLoggingCategory>
+#include <QtGui/QImage>
 
 Q_DECLARE_LOGGING_CATEGORY(ImageProtocolManagerLog)
 

src/MAVLink/MAVLinkFTP.h

@@ -10,9 +10,12 @@
 #pragma once
 
 #include <QtCore/QString>
+#include <QtCore/QLoggingCategory>
 
 #include "MAVLinkLib.h"
 
+Q_DECLARE_LOGGING_CATEGORY(MavlinkFTPLog)
+
 class MavlinkFTP {
 public:
     /// This is the fixed length portion of the protocol data.

src/MAVLink/MAVLinkStreamConfig.h

@@ -10,6 +10,9 @@
 #pragma once
 
 #include <QtCore/QVector>
+#include <QtCore/QLoggingCategory>
+
+Q_DECLARE_LOGGING_CATEGORY(MAVLinkStreamConfigLog)
 
 /**
  * @class MAVLinkStreamConfig