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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
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| add_library(ServoControl | ||
| ServoControl.cc | ||
| ServoControl.h | ||
| ${EXTRA_SRC} | ||
| ) | ||
|
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| target_link_libraries(ServoControl | ||
| PUBLIC | ||
| qgc | ||
| ) | ||
|
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| target_include_directories(ServoControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,89 @@ | ||
| /**************************************************************************** | ||
| * | ||
| * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> | ||
| * | ||
| * QGroundControl is licensed according to the terms in the file | ||
| * COPYING.md in the root of the source code directory. | ||
| * | ||
| ****************************************************************************/ | ||
|
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|
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| #include<iostream> | ||
| #include "Vehicle.h" | ||
| #include "ServoControl.h" | ||
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| #define SERVO_PWM_ON 2000 | ||
| #define SERVO_PWM_OFF 1000 | ||
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| #define DAY_LIGHT_SERVO 11 | ||
| #define NIGHT_LIGHT_SERVO 3 | ||
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| ServoControl::ServoControl(QObject *parent, Vehicle *vehicle) | ||
| : QObject(parent), _vehicle(vehicle) | ||
| { | ||
| } | ||
|
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| void ServoControl::setDayLightEnabled(bool enabled, int _defaultComponentId) { | ||
| if (!enabled) { | ||
| dayLightDisable(_defaultComponentId); | ||
| } else { | ||
| dayLightEnable(_defaultComponentId); | ||
| } | ||
| }; | ||
|
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| void ServoControl::setNightLightEnabled(bool enabled, int _defaultComponentId) { | ||
| if (!enabled) { | ||
| nightLightDisable(_defaultComponentId); | ||
| } else { | ||
| nightLightEnable(_defaultComponentId); | ||
| } | ||
| }; | ||
|
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| // ---------------------------------------------------------------------------- | ||
| void ServoControl::dayLightEnable(int _defaultComponentId) { | ||
| // _defaultComponentId | ||
| _vehicle->sendCommand( | ||
| _defaultComponentId, | ||
| MAV_CMD_DO_SET_SERVO, | ||
| true, | ||
| DAY_LIGHT_SERVO, | ||
| SERVO_PWM_ON | ||
| ); | ||
| }; | ||
|
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| // ---------------------------------------------------------------------------- | ||
| void ServoControl::dayLightDisable(int _defaultComponentId) { | ||
| // _defaultComponentId | ||
| _vehicle->sendCommand( | ||
| _defaultComponentId, | ||
| MAV_CMD_DO_SET_SERVO, | ||
| true, | ||
| DAY_LIGHT_SERVO, | ||
| SERVO_PWM_OFF | ||
| ); | ||
| }; | ||
|
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| // ---------------------------------------------------------------------------- | ||
| void ServoControl::nightLightEnable(int _defaultComponentId) { | ||
| // _defaultComponentId | ||
| _vehicle->sendCommand( | ||
| _defaultComponentId, | ||
| MAV_CMD_DO_SET_SERVO, | ||
| true, | ||
| NIGHT_LIGHT_SERVO, | ||
| SERVO_PWM_ON | ||
| ); | ||
| }; | ||
|
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| // ---------------------------------------------------------------------------- | ||
| void ServoControl::nightLightDisable(int _defaultComponentId) { | ||
| // _defaultComponentId | ||
| _vehicle->sendCommand( | ||
| _defaultComponentId, | ||
| MAV_CMD_DO_SET_SERVO, | ||
| true, | ||
| NIGHT_LIGHT_SERVO, | ||
| SERVO_PWM_OFF | ||
| ); | ||
| }; |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| /**************************************************************************** | ||
| * | ||
| * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> | ||
| * | ||
| * QGroundControl is licensed according to the terms in the file | ||
| * COPYING.md in the root of the source code directory. | ||
| * | ||
| ****************************************************************************/ | ||
|
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|
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| #pragma once | ||
|
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| #include "QGCLoggingCategory.h" | ||
| #include "QGCMAVLink.h" | ||
| #include <QString> | ||
| #include <QMap> | ||
|
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| class Vehicle; | ||
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| class ServoControl : public QObject | ||
| { | ||
| Q_OBJECT | ||
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| public: | ||
| ServoControl(QObject* parent, Vehicle* vehicle); | ||
|
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| Q_INVOKABLE void setDayLightEnabled(bool, int); | ||
| Q_INVOKABLE void setNightLightEnabled(bool, int); | ||
|
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| void dayLightEnable(int); | ||
| void dayLightDisable(int); | ||
| void nightLightEnable(int); | ||
| void nightLightDisable(int); | ||
| private: | ||
| Vehicle* _vehicle; | ||
| }; | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,19 @@ | ||
| { | ||
| "version": 1, | ||
| "fileType": "FactMetaData", | ||
| "QGC.MetaData.Facts": | ||
| [ | ||
| { | ||
| "name": "dayLight", | ||
| "shortDesc": "Status of day light", | ||
| "type": "bool", | ||
| "default": false | ||
| }, | ||
| { | ||
| "name": "nightLight", | ||
| "shortDesc": "Status of night light", | ||
| "type": "bool", | ||
| "default": false | ||
| } | ||
| ] | ||
| } |
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