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Added check how many MAVSDK systems are available.

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2024-07-04 11:24:07 +03:00
committed by Tuomas Järvinen
parent c69a7628c2
commit ad58ac34b8
2 changed files with 9 additions and 0 deletions
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src/az_config.h
+1
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@@ -1,5 +1,6 @@
#pragma once #pragma once
// Please check the port name! Also baudrates must match or devices can't communicate with each other.
const char *AZ_CONNECTION_SERIAL = "serial:///dev/ttyS0:115200"; const char *AZ_CONNECTION_SERIAL = "serial:///dev/ttyS0:115200";
const char *AZ_CONNECTION_UDP = "udp://:14550"; const char *AZ_CONNECTION_UDP = "udp://:14550";
const int AZ_RELATIVE_FLY_ALTITUDE = 50; const int AZ_RELATIVE_FLY_ALTITUDE = 50;
src/az_drone_controller.cpp
+8
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@@ -73,6 +73,14 @@ bool AzDroneController::stateConnect(void)
bool AzDroneController::stateAutopilot(void) bool AzDroneController::stateAutopilot(void)
{ {
std::vector<std::shared_ptr<System>> systems = mMavsdk.systems();
qDebug() << "AzDroneController::stateAutopilot() Found" << systems.size() << "systems";
if (systems.size() == 0) {
std::cerr << "No system found." << std::endl;
return 1;
}
std::optional<std::shared_ptr<System>> autopilot = mMavsdk.first_autopilot(AZ_GET_AUTOPILOT_TIMEOUT); std::optional<std::shared_ptr<System>> autopilot = mMavsdk.first_autopilot(AZ_GET_AUTOPILOT_TIMEOUT);
if (autopilot.has_value()) { if (autopilot.has_value()) {