Changed directory structure and renamed applications

- autopilot -> drone_controller
- rtsp_ai_player -> ai_controller
- added top level qmake project file
- updated documentation
- moved small demo applications from tmp/ to misc/

drone_controller/az_drone_controller.h

@@ -0,0 +1,91 @@
+#pragma once
+
+#include <memory.h>
+#include <QObject>
+
+#include <mavsdk/mavsdk.h>
+#include <mavsdk/plugins/action/action.h>
+#include <mavsdk/plugins/telemetry/telemetry.h>
+
+#include "az_mission.h"
+#include "az_mission_controller.h"
+
+using namespace mavsdk;
+
+typedef enum {
+    AZ_DRONE_STATE_DISCONNECTED,
+    AZ_DRONE_STATE_CONNECTED,
+    AZ_DRONE_STATE_GOT_SYSTEM,
+    AZ_DRONE_STATE_GOT_TELEMETRY_MODULE,
+    AZ_DRONE_STATE_GOT_ACTION_MODULE,
+    AZ_DRONE_STATE_HEALTH_OK,
+    AZ_DRONE_STATE_ARMED,
+    AZ_DRONE_STATE_TAKE_OFF,
+    AZ_DRONE_STATE_AUTO_MODE_ACTIVATED,
+    AZ_DRONE_STATE_FLY_MISSION,
+    AZ_DRONE_STATE_LAND,
+    AZ_DRONE_STATE_END,
+} AzDroneState;
+
+class AzDroneController : public QObject
+{
+    Q_OBJECT
+public:
+    explicit AzDroneController(AzMission &mission, QObject *parent = nullptr);
+
+    // Starts the autopilot.
+    void start();
+
+protected:
+    // Specify the methods that will be called one at a time to initialise the drone and fly the mission.
+    bool stateConnect(void);
+    bool stateGetSystem(void);
+    bool stateGetTelemetryModule(void);
+    bool stateGetActionModule(void);
+    bool stateHealthOk(void);
+    bool stateArm(void);
+    bool stateTakeoff(void);
+    bool stateFlyMission(void);
+
+    // Slots that are called by the emitted Qt signals.
+protected slots:
+    // Launches a state machine that progressively initialises the drone without blocking.
+    virtual void droneStateMachineSlot(void);
+
+    // ArduPilot seems to require some delay between calls. This method uses QTimer internally
+    // to call each new state method with some delay without blocking the main thread.
+    void delayedStateCallSlot(int ms);
+
+    // Slot that is called when the newPosition() signal below is emitted.
+    void newPositionSlot(Telemetry::Position);
+
+    // A mission file contains several action points. This is called
+    // when the action point is reached. Indexing starts at 1.
+    void missionIndexChangedSlot(int currentIndex, int totalIndexes);
+
+    // Called at the end of the mission. Lands and disarms the drone.
+    void missionFinishedSlot(void);
+
+    // Gets Telemetry::Health information in prearming.
+    void newHealthInfoSlot(Telemetry::Health health);
+
+signals:
+    // Signal is emitted when Ardupilot sends a new position from the
+    // MAVSDK thread. Signal goes through the main event loop and is
+    // captured in the main thread to avoid threading issues.
+    void newPosition(Telemetry::Position);
+
+    // If Telemetry::health_all_ok() fails, then autopilot subscripes for the healt updates to
+    // see exactly what is wrong. This signal is emitted to catch updates in the main thread.
+    void newHealthInfo(Telemetry::Health);
+
+protected:
+    Mavsdk mMavsdk;
+    AzDroneState mDroneState;
+    shared_ptr<System> mSystem;
+    Telemetry *mTelemetry;
+    Action *mAction;
+    Telemetry::Position mFirstPosition;
+    Telemetry::Position mCurrentPosition;
+    AzMissionController *mMissionController;
+};