15 lines
902 B
Markdown
15 lines
902 B
Markdown
|
# Vehicle Management
|
||
|
|
|
||
|
|
The singleton MAVLinkProtocol implements the target slot for all LinkInterface::bytesReceived signals. As data is received, it parses and builds MAVLink messages.
|
||
|
|
All messages are then sent through a MAVLinkProcotol::messageReceived signal. In addition, when it detects a heartbeat message,
|
||
|
|
it emits MAVLinkProcotol::vehicleHeartbeatInfo signals.
|
||
|
|
|
||
|
|
The singleton MultiVehicleManager is responsible for creating and maintaining instances of the Vehicle class. When it receives a MAVLinkProcotol::vehicleHeartbeatInfo
|
||
|
|
signal for the first time, it creates a vehicle instance, recording the vehicle ID and the link used.
|
||
|
|
|
||
|
|
The Vehicle class holds all the functionality to handle vehicles. It receives all messages sent from the vehicle and manages all messages and commands to that vehicle.
|
||
|
|
|
||
|
|
<div align="center">
|
||
|
|
<img src="../vehicleMgmt.svg" style="width:80%; height=auto;">
|
||
|
|
</div>
|