Move max rc channels into mavlink

src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc

@@ -10,6 +10,8 @@
 
 #include "APMFlightModesComponentController.h"
 #include "FactSystem.h"
+#include "Fact.h"
+#include "Vehicle.h"
 
 #include <QtCore/QVariant>
 #include <QtQml/QQmlEngine>
@@ -21,7 +23,7 @@ const char* APMFlightModesComponentController::_superSimpleParamName =  "SUPER_S
 
 APMFlightModesComponentController::APMFlightModesComponentController(void)
     : _activeFlightMode     (0)
-    , _channelCount         (Vehicle::cMaxRcChannels)
+    , _channelCount         (QGCMAVLink::maxRcChannels)
     , _simpleMode           (SimpleModeStandard)
     , _simpleModeFact       (parameterExists(-1, _simpleParamName)      ? getParameterFact(-1, _simpleParamName) : nullptr)
     , _superSimpleModeFact  (parameterExists(-1, _superSimpleParamName) ? getParameterFact(-1, _superSimpleParamName) : nullptr)
@@ -75,7 +77,7 @@ APMFlightModesComponentController::APMFlightModesComponentController(void)
 }
 
 /// Connected to Vehicle::rcChannelsChanged signal
-void APMFlightModesComponentController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels])
+void APMFlightModesComponentController::_rcChannelsChanged(int channelCount, int pwmValues[QGCMAVLink::maxRcChannels])
 {
     int flightModeChannel = 4;
 

src/AutoPilotPlugins/APM/APMFlightModesComponentController.h

@@ -13,7 +13,7 @@
 #include <QtCore/QStringList>
 
 #include "FactPanelController.h"
-#include "Vehicle.h"
+#include "QGCMAVLink.h"
 
 /// MVC Controller for FlightModesComponent.qml.
 class APMFlightModesComponentController : public FactPanelController
@@ -56,7 +56,7 @@ class APMFlightModesComponentController : public FactPanelController
     void superSimpleModeEnabledChanged  (void);
 
 private slots:
-    void _rcChannelsChanged                     (int channelCount, int pwmValues[Vehicle::cMaxRcChannels]);
+    void _rcChannelsChanged                     (int channelCount, int pwmValues[QGCMAVLink::maxRcChannels]);
     void _updateSimpleParamsFromSimpleMode      (void);
     void _setupSimpleModeEnabled     (void);
 

src/AutoPilotPlugins/APM/CMakeLists.txt

@@ -45,19 +45,20 @@ qt_add_library(APMAutoPilotPlugin STATIC
 
 target_link_libraries(APMAutoPilotPlugin
     PRIVATE
-        VehicleActuators
         APMFirmwarePlugin
         AutoPilotPlugins
         FactSystem
         QGC
         Settings
         Utilities
+        Vehicle
+        VehicleActuators
     PUBLIC
         Qt6::Core
         Qt6::Quick
+        Comms
         CommonAutoPilotPlugin
         FactControls
-        Vehicle
         VehicleSetup
 )
 

src/AutoPilotPlugins/Common/CMakeLists.txt

@@ -21,10 +21,12 @@ target_link_libraries(CommonAutoPilotPlugin
         FactSystem
         QGC
         Utilities
+        Vehicle
     PUBLIC
         Qt6::Core
         Qt6::Network
         Qt6::Quick
+        Comms
         FactControls
         VehicleSetup
 )

src/AutoPilotPlugins/Common/RadioComponentController.cc

@@ -15,6 +15,8 @@
 #include "RadioComponentController.h"
 #include "QGCApplication.h"
 #include "FactSystem.h"
+#include "Fact.h"
+#include "Vehicle.h"
 #include "QGCLoggingCategory.h"
 
 #include <QtCore/QSettings>
@@ -224,7 +226,7 @@ void RadioComponentController::_setupCurrentState(void)
 }
 
 /// Connected to Vehicle::rcChannelsChanged signal
-void RadioComponentController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels])
+void RadioComponentController::_rcChannelsChanged(int channelCount, int pwmValues[QGCMAVLink::maxRcChannels])
 {
     for (int channel=0; channel<channelCount; channel++) {
         int channelValue = pwmValues[channel];

src/AutoPilotPlugins/Common/RadioComponentController.h

@@ -16,9 +16,10 @@
 #pragma once
 
 #include "FactPanelController.h"
-#include "Vehicle.h"
+#include "QGCMAVLink.h"
 
 #include <QtCore/QLoggingCategory>
+#include <QtCore/QElapsedTimer>
 #include <QtQuick/QQuickItem>
 
 Q_DECLARE_LOGGING_CATEGORY(RadioComponentControllerLog)
@@ -138,7 +139,7 @@ class RadioComponentController : public FactPanelController
     void throttleReversedCalFailure(void);
 
 private slots:
-    void _rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels]);
+    void _rcChannelsChanged(int channelCount, int pwmValues[QGCMAVLink::maxRcChannels]);
 
 private:
     /// @brief These identify the various controls functions. They are also used as indices into the _rgFunctioInfo

src/AutoPilotPlugins/PX4/ActuatorComponent.cc

@@ -10,6 +10,7 @@
 #include "ActuatorComponent.h"
 #include "QGCApplication.h"
 #include "GeometryImage.h"
+#include "Actuators/Actuators.h"
 
 #include <QtQml/QQmlApplicationEngine>
 

src/AutoPilotPlugins/PX4/ActuatorComponent.h

@@ -11,7 +11,8 @@
 #pragma once
 
 #include "VehicleComponent.h"
-#include "Actuators/Actuators.h"
+
+class Actuators;
 
 class ActuatorComponent : public VehicleComponent
 {
@@ -36,4 +37,3 @@ class ActuatorComponent : public VehicleComponent
     const QString   _name;
     Actuators& _actuators;
 };
-

src/AutoPilotPlugins/PX4/AirframeComponent.h

@@ -8,8 +8,7 @@
  ****************************************************************************/
 
 
-#ifndef AIRFRAMECOMPONENT_H
-#define AIRFRAMECOMPONENT_H
+#pragma once
 
 #include "VehicleComponent.h"
 
@@ -40,5 +39,3 @@ class AirframeComponent : public VehicleComponent
     const QString   _name;
     QVariantList     _summaryItems;
 };
-
-#endif

src/AutoPilotPlugins/PX4/AirframeComponentAirframes.h

@@ -11,8 +11,7 @@
 /// @file
 ///     @author Don Gagne <[email protected]>
 
-#ifndef AIRFRAMECOMPONENTAIRFRAMES_H
-#define AIRFRAMECOMPONENTAIRFRAMES_H
+#pragma once
 
 #include <QtCore/QList>
 #include <QtCore/QMap>
@@ -41,5 +40,3 @@ class AirframeComponentAirframes
 
 private:
 };
-
-#endif

src/AutoPilotPlugins/PX4/AirframeComponentController.h

@@ -11,8 +11,7 @@
 /// @file
 ///     @author Don Gagne <[email protected]>
 
-#ifndef AIRFRAMECOMPONENTCONTROLLER_H
-#define AIRFRAMECOMPONENTCONTROLLER_H
+#pragma once
 
 #include <QtCore/QObject>
 #include <QtCore/QVariant>
@@ -98,5 +97,3 @@ class AirframeType : public QObject
     QString         _imageResource;
     QVariantList    _airframes;
 };
-
-#endif

src/AutoPilotPlugins/PX4/CMakeLists.txt

@@ -39,18 +39,18 @@ qt_add_library(PX4AutoPilotPlugin STATIC
 
 target_link_libraries(PX4AutoPilotPlugin
     PRIVATE
-		Comms
+		FactSystem
         QGC
 		Utilities
+		Vehicle
+        VehicleActuators
 	PUBLIC
 		Qt6::Core
 		Qt6::Quick
 		AutoPilotPlugins
 		CommonAutoPilotPlugin
+		Comms
 		FactControls
-		FactSystem
-		Vehicle
-        VehicleActuators
         VehicleSetup
 )
 

src/AutoPilotPlugins/PX4/CameraComponent.h

@@ -8,8 +8,7 @@
  ****************************************************************************/
 
 
-#ifndef CameraComponent_H
-#define CameraComponent_H
+#pragma once
 
 #include "VehicleComponent.h"
 
@@ -42,5 +41,3 @@ class CameraComponent : public VehicleComponent
     const QString   _name;
     QVariantList    _summaryItems;
 };
-
-#endif

src/AutoPilotPlugins/PX4/FlightModesComponent.h

@@ -8,8 +8,7 @@
  ****************************************************************************/
 
 
-#ifndef FLIGHTMODESCOMPONENT_H
-#define FLIGHTMODESCOMPONENT_H
+#pragma once
 
 #include "VehicleComponent.h"
 
@@ -40,5 +39,3 @@ class FlightModesComponent : public VehicleComponent
     const QString   _name;
     QVariantList    _summaryItems;
 };
-
-#endif

src/AutoPilotPlugins/PX4/PX4AirframeLoader.h

@@ -8,8 +8,7 @@
  ****************************************************************************/
 
 
-#ifndef PX4AIRFRAMELOADER_H
-#define PX4AIRFRAMELOADER_H
+#pragma once
 
 #include <QtCore/QObject>
 #include <QtCore/QMap>
@@ -52,5 +51,3 @@ class PX4AirframeLoader : QObject
     static bool _airframeMetaDataLoaded;   ///< true: parameter meta data already loaded
     static QMap<QString, FactMetaData*> _mapParameterName2FactMetaData; ///< Maps from a parameter name to FactMetaData
 };
-
-#endif // PX4AIRFRAMELOADER_H

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -20,6 +20,7 @@
 #include "FactSystem.h"
 #include "ParameterManager.h"
 #include "Vehicle.h"
+#include "Actuators.h"
 #include "ActuatorComponent.h"
 
 /// @file

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h

@@ -8,8 +8,7 @@
  ****************************************************************************/
 
 
-#ifndef PX4AUTOPILOT_H
-#define PX4AUTOPILOT_H
+#pragma once
 
 #include "AutoPilotPlugin.h"
 #include "ActuatorComponent.h"
@@ -66,5 +65,3 @@ class PX4AutoPilotPlugin : public AutoPilotPlugin
 private:
     QVariantList            _components;
 };
-
-#endif

src/AutoPilotPlugins/PX4/PX4RadioComponent.h

@@ -8,8 +8,7 @@
  ****************************************************************************/
 
 
-#ifndef PX4RadioComponent_H
-#define PX4RadioComponent_H
+#pragma once
 
 #include "VehicleComponent.h"
 
@@ -36,5 +35,3 @@ class PX4RadioComponent : public VehicleComponent
     const QString   _name;
     QVariantList    _summaryItems;
 };
-
-#endif

src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.cc

@@ -10,10 +10,12 @@
 
 #include "PX4SimpleFlightModesController.h"
 #include "FactSystem.h"
+#include "Fact.h"
+#include "Vehicle.h"
 
 PX4SimpleFlightModesController::PX4SimpleFlightModesController(void)
     : _activeFlightMode(0)
-    , _channelCount(Vehicle::cMaxRcChannels)
+    , _channelCount(QGCMAVLink::maxRcChannels)
 
 {
     QStringList usedParams;
@@ -28,7 +30,7 @@ PX4SimpleFlightModesController::PX4SimpleFlightModesController(void)
 }
 
 /// Connected to Vehicle::rcChannelsChanged signal
-void PX4SimpleFlightModesController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels])
+void PX4SimpleFlightModesController::_rcChannelsChanged(int channelCount, int pwmValues[QGCMAVLink::maxRcChannels])
 {
     _rcChannelValues.clear();
     for (int i=0; i<channelCount; i++) {

src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.h

@@ -8,11 +8,10 @@
  ****************************************************************************/
 
 
-#ifndef PX4SimpleFlightModesController_H
-#define PX4SimpleFlightModesController_H
+#pragma once
 
 #include "FactPanelController.h"
-#include "Vehicle.h"
+#include "QGCMAVLink.h"
 
 /// MVC Controller for PX4SimpleFlightModes.qml
 class PX4SimpleFlightModesController : public FactPanelController
@@ -34,12 +33,10 @@ class PX4SimpleFlightModesController : public FactPanelController
     void rcChannelValuesChanged(void);
 
 private slots:
-    void _rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels]);
+    void _rcChannelsChanged(int channelCount, int pwmValues[QGCMAVLink::maxRcChannels]);
 
 private:
     int             _activeFlightMode;
     int             _channelCount;
     QVariantList    _rcChannelValues;
 };
-
-#endif

src/AutoPilotPlugins/PX4/PX4TuningComponent.h

@@ -8,8 +8,7 @@
  ****************************************************************************/
 
 
-#ifndef PX4TuningComponent_H
-#define PX4TuningComponent_H
+#pragma once
 
 #include "VehicleComponent.h"
 
@@ -37,5 +36,3 @@ class PX4TuningComponent : public VehicleComponent
 private:
     const QString   _name;
 };
-
-#endif

src/AutoPilotPlugins/PX4/PowerComponent.h

@@ -8,8 +8,7 @@
  ****************************************************************************/
 
 
-#ifndef PowerComponent_H
-#define PowerComponent_H
+#pragma once
 
 #include "VehicleComponent.h"
 
@@ -41,5 +40,3 @@ class PowerComponent : public VehicleComponent
     const QString   _name;
     QVariantList    _summaryItems;
 };
-
-#endif