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https://bitbucket.org/librepilot/librepilot.git
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c9eea40687
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1120 ebee16cc-31ac-478f-84a7-5cbb03baadba
382 lines
16 KiB
C++
382 lines
16 KiB
C++
/**
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******************************************************************************
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*
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* @file actuatorsettings.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @see The GNU Public License (GPL) Version 3
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup UAVObjectsPlugin UAVObjects Plugin
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* @{
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*
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* @note Object definition file: actuatorsettings.xml.
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* This is an automatically generated file.
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* DO NOT modify manually.
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*
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* @brief The UAVUObjects GCS plugin
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "actuatorsettings.h"
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#include "uavobjectfield.h"
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const QString ActuatorSettings::NAME = QString("ActuatorSettings");
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/**
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* Constructor
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*/
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ActuatorSettings::ActuatorSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
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{
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// Create fields
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QList<UAVObjectField*> fields;
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QStringList FixedWingRoll1ElemNames;
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FixedWingRoll1ElemNames.append("0");
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QStringList FixedWingRoll1EnumOptions;
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FixedWingRoll1EnumOptions.append("Channel0");
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FixedWingRoll1EnumOptions.append("Channel1");
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FixedWingRoll1EnumOptions.append("Channel2");
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FixedWingRoll1EnumOptions.append("Channel3");
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FixedWingRoll1EnumOptions.append("Channel4");
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FixedWingRoll1EnumOptions.append("Channel5");
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FixedWingRoll1EnumOptions.append("Channel6");
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FixedWingRoll1EnumOptions.append("Channel7");
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FixedWingRoll1EnumOptions.append("None");
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fields.append( new UAVObjectField(QString("FixedWingRoll1"), QString("channel"), UAVObjectField::ENUM, FixedWingRoll1ElemNames, FixedWingRoll1EnumOptions) );
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QStringList FixedWingRoll2ElemNames;
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FixedWingRoll2ElemNames.append("0");
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QStringList FixedWingRoll2EnumOptions;
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FixedWingRoll2EnumOptions.append("Channel0");
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FixedWingRoll2EnumOptions.append("Channel1");
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FixedWingRoll2EnumOptions.append("Channel2");
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FixedWingRoll2EnumOptions.append("Channel3");
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FixedWingRoll2EnumOptions.append("Channel4");
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FixedWingRoll2EnumOptions.append("Channel5");
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FixedWingRoll2EnumOptions.append("Channel6");
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FixedWingRoll2EnumOptions.append("Channel7");
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FixedWingRoll2EnumOptions.append("None");
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fields.append( new UAVObjectField(QString("FixedWingRoll2"), QString("channel"), UAVObjectField::ENUM, FixedWingRoll2ElemNames, FixedWingRoll2EnumOptions) );
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QStringList FixedWingPitch1ElemNames;
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FixedWingPitch1ElemNames.append("0");
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QStringList FixedWingPitch1EnumOptions;
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FixedWingPitch1EnumOptions.append("Channel0");
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FixedWingPitch1EnumOptions.append("Channel1");
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FixedWingPitch1EnumOptions.append("Channel2");
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FixedWingPitch1EnumOptions.append("Channel3");
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FixedWingPitch1EnumOptions.append("Channel4");
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FixedWingPitch1EnumOptions.append("Channel5");
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FixedWingPitch1EnumOptions.append("Channel6");
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FixedWingPitch1EnumOptions.append("Channel7");
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FixedWingPitch1EnumOptions.append("None");
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fields.append( new UAVObjectField(QString("FixedWingPitch1"), QString("channel"), UAVObjectField::ENUM, FixedWingPitch1ElemNames, FixedWingPitch1EnumOptions) );
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QStringList FixedWingPitch2ElemNames;
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FixedWingPitch2ElemNames.append("0");
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QStringList FixedWingPitch2EnumOptions;
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FixedWingPitch2EnumOptions.append("Channel0");
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FixedWingPitch2EnumOptions.append("Channel1");
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FixedWingPitch2EnumOptions.append("Channel2");
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FixedWingPitch2EnumOptions.append("Channel3");
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FixedWingPitch2EnumOptions.append("Channel4");
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FixedWingPitch2EnumOptions.append("Channel5");
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FixedWingPitch2EnumOptions.append("Channel6");
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FixedWingPitch2EnumOptions.append("Channel7");
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FixedWingPitch2EnumOptions.append("None");
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fields.append( new UAVObjectField(QString("FixedWingPitch2"), QString("channel"), UAVObjectField::ENUM, FixedWingPitch2ElemNames, FixedWingPitch2EnumOptions) );
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QStringList FixedWingYawElemNames;
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FixedWingYawElemNames.append("0");
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QStringList FixedWingYawEnumOptions;
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FixedWingYawEnumOptions.append("Channel0");
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FixedWingYawEnumOptions.append("Channel1");
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FixedWingYawEnumOptions.append("Channel2");
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FixedWingYawEnumOptions.append("Channel3");
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FixedWingYawEnumOptions.append("Channel4");
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FixedWingYawEnumOptions.append("Channel5");
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FixedWingYawEnumOptions.append("Channel6");
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FixedWingYawEnumOptions.append("Channel7");
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FixedWingYawEnumOptions.append("None");
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fields.append( new UAVObjectField(QString("FixedWingYaw"), QString("channel"), UAVObjectField::ENUM, FixedWingYawElemNames, FixedWingYawEnumOptions) );
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QStringList FixedWingThrottleElemNames;
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FixedWingThrottleElemNames.append("0");
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QStringList FixedWingThrottleEnumOptions;
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FixedWingThrottleEnumOptions.append("Channel0");
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FixedWingThrottleEnumOptions.append("Channel1");
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FixedWingThrottleEnumOptions.append("Channel2");
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FixedWingThrottleEnumOptions.append("Channel3");
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FixedWingThrottleEnumOptions.append("Channel4");
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FixedWingThrottleEnumOptions.append("Channel5");
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FixedWingThrottleEnumOptions.append("Channel6");
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FixedWingThrottleEnumOptions.append("Channel7");
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FixedWingThrottleEnumOptions.append("None");
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fields.append( new UAVObjectField(QString("FixedWingThrottle"), QString("channel"), UAVObjectField::ENUM, FixedWingThrottleElemNames, FixedWingThrottleEnumOptions) );
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QStringList VTOLMotorNElemNames;
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VTOLMotorNElemNames.append("0");
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QStringList VTOLMotorNEnumOptions;
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VTOLMotorNEnumOptions.append("Channel0");
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VTOLMotorNEnumOptions.append("Channel1");
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VTOLMotorNEnumOptions.append("Channel2");
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VTOLMotorNEnumOptions.append("Channel3");
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VTOLMotorNEnumOptions.append("Channel4");
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VTOLMotorNEnumOptions.append("Channel5");
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VTOLMotorNEnumOptions.append("Channel6");
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VTOLMotorNEnumOptions.append("Channel7");
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VTOLMotorNEnumOptions.append("None");
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fields.append( new UAVObjectField(QString("VTOLMotorN"), QString("channel"), UAVObjectField::ENUM, VTOLMotorNElemNames, VTOLMotorNEnumOptions) );
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QStringList VTOLMotorNEElemNames;
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VTOLMotorNEElemNames.append("0");
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QStringList VTOLMotorNEEnumOptions;
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VTOLMotorNEEnumOptions.append("Channel0");
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VTOLMotorNEEnumOptions.append("Channel1");
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VTOLMotorNEEnumOptions.append("Channel2");
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VTOLMotorNEEnumOptions.append("Channel3");
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VTOLMotorNEEnumOptions.append("Channel4");
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VTOLMotorNEEnumOptions.append("Channel5");
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VTOLMotorNEEnumOptions.append("Channel6");
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VTOLMotorNEEnumOptions.append("Channel7");
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VTOLMotorNEEnumOptions.append("None");
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fields.append( new UAVObjectField(QString("VTOLMotorNE"), QString("channel"), UAVObjectField::ENUM, VTOLMotorNEElemNames, VTOLMotorNEEnumOptions) );
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QStringList VTOLMotorEElemNames;
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VTOLMotorEElemNames.append("0");
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QStringList VTOLMotorEEnumOptions;
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VTOLMotorEEnumOptions.append("Channel0");
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VTOLMotorEEnumOptions.append("Channel1");
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VTOLMotorEEnumOptions.append("Channel2");
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VTOLMotorEEnumOptions.append("Channel3");
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VTOLMotorEEnumOptions.append("Channel4");
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VTOLMotorEEnumOptions.append("Channel5");
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VTOLMotorEEnumOptions.append("Channel6");
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VTOLMotorEEnumOptions.append("Channel7");
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VTOLMotorEEnumOptions.append("None");
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fields.append( new UAVObjectField(QString("VTOLMotorE"), QString("channel"), UAVObjectField::ENUM, VTOLMotorEElemNames, VTOLMotorEEnumOptions) );
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QStringList VTOLMotorSEElemNames;
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VTOLMotorSEElemNames.append("0");
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QStringList VTOLMotorSEEnumOptions;
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VTOLMotorSEEnumOptions.append("Channel0");
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VTOLMotorSEEnumOptions.append("Channel1");
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VTOLMotorSEEnumOptions.append("Channel2");
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VTOLMotorSEEnumOptions.append("Channel3");
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VTOLMotorSEEnumOptions.append("Channel4");
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VTOLMotorSEEnumOptions.append("Channel5");
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VTOLMotorSEEnumOptions.append("Channel6");
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VTOLMotorSEEnumOptions.append("Channel7");
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VTOLMotorSEEnumOptions.append("None");
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fields.append( new UAVObjectField(QString("VTOLMotorSE"), QString("channel"), UAVObjectField::ENUM, VTOLMotorSEElemNames, VTOLMotorSEEnumOptions) );
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QStringList VTOLMotorSElemNames;
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VTOLMotorSElemNames.append("0");
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QStringList VTOLMotorSEnumOptions;
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VTOLMotorSEnumOptions.append("Channel0");
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VTOLMotorSEnumOptions.append("Channel1");
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VTOLMotorSEnumOptions.append("Channel2");
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VTOLMotorSEnumOptions.append("Channel3");
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VTOLMotorSEnumOptions.append("Channel4");
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VTOLMotorSEnumOptions.append("Channel5");
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VTOLMotorSEnumOptions.append("Channel6");
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VTOLMotorSEnumOptions.append("Channel7");
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VTOLMotorSEnumOptions.append("None");
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fields.append( new UAVObjectField(QString("VTOLMotorS"), QString("channel"), UAVObjectField::ENUM, VTOLMotorSElemNames, VTOLMotorSEnumOptions) );
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QStringList VTOLMotorSWElemNames;
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VTOLMotorSWElemNames.append("0");
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QStringList VTOLMotorSWEnumOptions;
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VTOLMotorSWEnumOptions.append("Channel0");
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VTOLMotorSWEnumOptions.append("Channel1");
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VTOLMotorSWEnumOptions.append("Channel2");
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VTOLMotorSWEnumOptions.append("Channel3");
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VTOLMotorSWEnumOptions.append("Channel4");
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VTOLMotorSWEnumOptions.append("Channel5");
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VTOLMotorSWEnumOptions.append("Channel6");
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VTOLMotorSWEnumOptions.append("Channel7");
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VTOLMotorSWEnumOptions.append("None");
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fields.append( new UAVObjectField(QString("VTOLMotorSW"), QString("channel"), UAVObjectField::ENUM, VTOLMotorSWElemNames, VTOLMotorSWEnumOptions) );
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QStringList VTOLMotorWElemNames;
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VTOLMotorWElemNames.append("0");
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QStringList VTOLMotorWEnumOptions;
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VTOLMotorWEnumOptions.append("Channel0");
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VTOLMotorWEnumOptions.append("Channel1");
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VTOLMotorWEnumOptions.append("Channel2");
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VTOLMotorWEnumOptions.append("Channel3");
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VTOLMotorWEnumOptions.append("Channel4");
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VTOLMotorWEnumOptions.append("Channel5");
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VTOLMotorWEnumOptions.append("Channel6");
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VTOLMotorWEnumOptions.append("Channel7");
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VTOLMotorWEnumOptions.append("None");
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fields.append( new UAVObjectField(QString("VTOLMotorW"), QString("channel"), UAVObjectField::ENUM, VTOLMotorWElemNames, VTOLMotorWEnumOptions) );
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QStringList VTOLMotorNWElemNames;
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VTOLMotorNWElemNames.append("0");
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QStringList VTOLMotorNWEnumOptions;
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VTOLMotorNWEnumOptions.append("Channel0");
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VTOLMotorNWEnumOptions.append("Channel1");
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VTOLMotorNWEnumOptions.append("Channel2");
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VTOLMotorNWEnumOptions.append("Channel3");
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VTOLMotorNWEnumOptions.append("Channel4");
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VTOLMotorNWEnumOptions.append("Channel5");
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VTOLMotorNWEnumOptions.append("Channel6");
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VTOLMotorNWEnumOptions.append("Channel7");
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VTOLMotorNWEnumOptions.append("None");
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fields.append( new UAVObjectField(QString("VTOLMotorNW"), QString("channel"), UAVObjectField::ENUM, VTOLMotorNWElemNames, VTOLMotorNWEnumOptions) );
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QStringList ChannelUpdateFreqElemNames;
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ChannelUpdateFreqElemNames.append("0");
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ChannelUpdateFreqElemNames.append("1");
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fields.append( new UAVObjectField(QString("ChannelUpdateFreq"), QString("Hz"), UAVObjectField::INT16, ChannelUpdateFreqElemNames, QStringList()) );
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QStringList ChannelMaxElemNames;
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ChannelMaxElemNames.append("0");
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ChannelMaxElemNames.append("1");
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ChannelMaxElemNames.append("2");
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ChannelMaxElemNames.append("3");
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ChannelMaxElemNames.append("4");
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ChannelMaxElemNames.append("5");
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ChannelMaxElemNames.append("6");
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ChannelMaxElemNames.append("7");
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fields.append( new UAVObjectField(QString("ChannelMax"), QString("us"), UAVObjectField::INT16, ChannelMaxElemNames, QStringList()) );
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QStringList ChannelNeutralElemNames;
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ChannelNeutralElemNames.append("0");
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ChannelNeutralElemNames.append("1");
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ChannelNeutralElemNames.append("2");
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ChannelNeutralElemNames.append("3");
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ChannelNeutralElemNames.append("4");
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ChannelNeutralElemNames.append("5");
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ChannelNeutralElemNames.append("6");
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ChannelNeutralElemNames.append("7");
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fields.append( new UAVObjectField(QString("ChannelNeutral"), QString("us"), UAVObjectField::INT16, ChannelNeutralElemNames, QStringList()) );
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QStringList ChannelMinElemNames;
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ChannelMinElemNames.append("0");
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ChannelMinElemNames.append("1");
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ChannelMinElemNames.append("2");
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ChannelMinElemNames.append("3");
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ChannelMinElemNames.append("4");
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ChannelMinElemNames.append("5");
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ChannelMinElemNames.append("6");
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ChannelMinElemNames.append("7");
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fields.append( new UAVObjectField(QString("ChannelMin"), QString("us"), UAVObjectField::INT16, ChannelMinElemNames, QStringList()) );
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// Initialize object
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initializeFields(fields, (quint8*)&data, NUMBYTES);
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// Set the default field values
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setDefaultFieldValues();
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}
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/**
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* Get the default metadata for this object
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*/
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UAVObject::Metadata ActuatorSettings::getDefaultMetadata()
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{
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UAVObject::Metadata metadata;
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metadata.flightAccess = ACCESS_READWRITE;
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metadata.gcsAccess = ACCESS_READWRITE;
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metadata.gcsTelemetryAcked = 1;
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metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
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metadata.gcsTelemetryUpdatePeriod = 0;
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metadata.flightTelemetryAcked = 1;
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metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
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metadata.flightTelemetryUpdatePeriod = 0;
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metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;
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metadata.loggingUpdatePeriod = 0;
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return metadata;
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}
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/**
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* Initialize object fields with the default values.
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* If a default value is not specified the object fields
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* will be initialized to zero.
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*/
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void ActuatorSettings::setDefaultFieldValues()
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{
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data.FixedWingRoll1 = 8;
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data.FixedWingRoll2 = 8;
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data.FixedWingPitch1 = 8;
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data.FixedWingPitch2 = 8;
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data.FixedWingYaw = 8;
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data.FixedWingThrottle = 8;
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data.VTOLMotorN = 8;
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data.VTOLMotorNE = 8;
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data.VTOLMotorE = 8;
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data.VTOLMotorSE = 8;
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data.VTOLMotorS = 8;
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data.VTOLMotorSW = 8;
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data.VTOLMotorW = 8;
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data.VTOLMotorNW = 8;
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data.ChannelUpdateFreq[0] = 50;
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data.ChannelUpdateFreq[1] = 50;
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data.ChannelMax[0] = 2000;
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data.ChannelMax[1] = 2000;
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data.ChannelMax[2] = 2000;
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data.ChannelMax[3] = 2000;
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data.ChannelMax[4] = 2000;
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data.ChannelMax[5] = 2000;
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data.ChannelMax[6] = 2000;
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data.ChannelMax[7] = 2000;
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data.ChannelNeutral[0] = 1500;
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data.ChannelNeutral[1] = 1500;
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data.ChannelNeutral[2] = 1500;
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data.ChannelNeutral[3] = 1500;
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data.ChannelNeutral[4] = 1500;
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data.ChannelNeutral[5] = 1500;
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data.ChannelNeutral[6] = 1500;
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data.ChannelNeutral[7] = 1500;
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data.ChannelMin[0] = 1000;
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data.ChannelMin[1] = 1000;
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data.ChannelMin[2] = 1000;
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data.ChannelMin[3] = 1000;
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data.ChannelMin[4] = 1000;
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data.ChannelMin[5] = 1000;
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data.ChannelMin[6] = 1000;
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data.ChannelMin[7] = 1000;
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}
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/**
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* Get the object data fields
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*/
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ActuatorSettings::DataFields ActuatorSettings::getData()
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{
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QMutexLocker locker(mutex);
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return data;
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}
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/**
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* Set the object data fields
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*/
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void ActuatorSettings::setData(const DataFields& data)
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{
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QMutexLocker locker(mutex);
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// Get metadata
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Metadata mdata = getMetadata();
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// Update object if the access mode permits
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if ( mdata.gcsAccess == ACCESS_READWRITE )
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{
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this->data = data;
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emit objectUpdatedAuto(this); // trigger object updated event
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emit objectUpdated(this);
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}
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}
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/**
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* Create a clone of this object, a new instance ID must be specified.
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* Do not use this function directly to create new instances, the
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* UAVObjectManager should be used instead.
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*/
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UAVDataObject* ActuatorSettings::clone(quint32 instID)
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{
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ActuatorSettings* obj = new ActuatorSettings();
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obj->initialize(instID, this->getMetaObject());
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return obj;
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}
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/**
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* Static function to retrieve an instance of the object.
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*/
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ActuatorSettings* ActuatorSettings::GetInstance(UAVObjectManager* objMngr, quint32 instID)
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{
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return dynamic_cast<ActuatorSettings*>(objMngr->getObject(ActuatorSettings::OBJID, instID));
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}
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