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// On Windows (for VS2010) stdint.h contains the limits normally contained in limits.h
// It also needs the __STDC_LIMIT_MACROS macro defined in order to include them (done
// in qgroundcontrol.pri).
#ifdef WIN32
#include <stdint.h>
#else
#include <limits.h>
#endif
#include <QTimer>
#include <QDir>
#include <QXmlStreamReader>
#include <QMessageBox>
#include "QGCPX4VehicleConfig.h"
#include "UASManager.h"
#include "QGC.h"
#include "QGCToolWidget.h"
#include "ui_QGCPX4VehicleConfig.h"
#define WIDGET_INDEX_RC 0
#define WIDGET_INDEX_SENSOR_CAL 1
#define WIDGET_INDEX_GENERAL_CONFIG 2
#define WIDGET_INDEX_ADV_CONFIG 3
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QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
QWidget(parent),
mav(NULL),
chanCount(0),
rcRoll(0.0f),
rcPitch(0.0f),
rcYaw(0.0f),
rcThrottle(0.0f),
rcMode(0.0f),
rcAux1(0.0f),
rcAux2(0.0f),
rcAux3(0.0f),
changed(true),
rc_mode(RC_MODE_NONE),
calibrationEnabled(false),
ui(new Ui::QGCPX4VehicleConfig)
{
doneLoadingConfig = false;
setObjectName("QGC_VEHICLECONFIG");
ui->setupUi(this);
ui->rollWidget->setOrientation(Qt::Horizontal);
ui->rollWidget->setName("Roll");
ui->yawWidget->setOrientation(Qt::Horizontal);
ui->yawWidget->setName("Yaw");
ui->pitchWidget->setName("Pitch");
ui->throttleWidget->setName("Throttle");
ui->radio5Widget->setOrientation(Qt::Horizontal);
ui->radio5Widget->setName("Radio 5");
ui->radio6Widget->setOrientation(Qt::Horizontal);
ui->radio6Widget->setName("Radio 6");
ui->radio7Widget->setOrientation(Qt::Horizontal);
ui->radio7Widget->setName("Radio 7");
ui->radio8Widget->setOrientation(Qt::Horizontal);
ui->radio8Widget->setName("Radio 8");
connect(ui->rcMenuButton,SIGNAL(clicked()),this,SLOT(rcMenuButtonClicked()));
connect(ui->sensorMenuButton,SIGNAL(clicked()),this,SLOT(sensorMenuButtonClicked()));
connect(ui->generalMenuButton,SIGNAL(clicked()),this,SLOT(generalMenuButtonClicked()));
connect(ui->advancedMenuButton,SIGNAL(clicked()),this,SLOT(advancedMenuButtonClicked()));
ui->rcModeComboBox->setCurrentIndex((int)rc_mode - 1);
ui->rcCalibrationButton->setCheckable(true);
connect(ui->rcCalibrationButton, SIGNAL(clicked(bool)), this, SLOT(toggleCalibrationRC(bool)));
connect(ui->setButton, SIGNAL(clicked()), this, SLOT(writeParameters()));
connect(ui->rcModeComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(setRCModeIndex(int)));
//connect(ui->setTrimButton, SIGNAL(clicked()), this, SLOT(setTrimPositions()));
/* Connect RC mapping assignments */
connect(ui->rollSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setRollChan(int)));
connect(ui->pitchSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setPitchChan(int)));
connect(ui->yawSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setYawChan(int)));
connect(ui->throttleSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setThrottleChan(int)));
connect(ui->modeSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setModeChan(int)));
connect(ui->aux1SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux1Chan(int)));
connect(ui->aux2SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux2Chan(int)));
connect(ui->aux3SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux3Chan(int)));
// Connect RC reverse assignments
connect(ui->invertCheckBox, SIGNAL(clicked(bool)), this, SLOT(setRollInverted(bool)));
connect(ui->invertCheckBox_2, SIGNAL(clicked(bool)), this, SLOT(setPitchInverted(bool)));
connect(ui->invertCheckBox_3, SIGNAL(clicked(bool)), this, SLOT(setYawInverted(bool)));
connect(ui->invertCheckBox_4, SIGNAL(clicked(bool)), this, SLOT(setThrottleInverted(bool)));
connect(ui->invertCheckBox_5, SIGNAL(clicked(bool)), this, SLOT(setModeInverted(bool)));
connect(ui->invertCheckBox_6, SIGNAL(clicked(bool)), this, SLOT(setAux1Inverted(bool)));
connect(ui->invertCheckBox_7, SIGNAL(clicked(bool)), this, SLOT(setAux2Inverted(bool)));
connect(ui->invertCheckBox_8, SIGNAL(clicked(bool)), this, SLOT(setAux3Inverted(bool)));
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
setActiveUAS(UASManager::instance()->getActiveUAS());
for (unsigned int i = 0; i < chanMax; i++)
{
rcValue[i] = UINT16_MAX;
rcMapping[i] = i;
}
updateTimer.setInterval(150);
connect(&updateTimer, SIGNAL(timeout()), this, SLOT(updateView()));
updateTimer.start();
ui->advancedGroupBox->hide();
connect(ui->advancedCheckBox,SIGNAL(toggled(bool)),ui->advancedGroupBox,SLOT(setShown(bool)));
}
void QGCPX4VehicleConfig::rcMenuButtonClicked()
{
//TODO eg ui->stackedWidget->findChild("rcConfig");
ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_RC);
}
void QGCPX4VehicleConfig::sensorMenuButtonClicked()
{
ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_SENSOR_CAL);
}
void QGCPX4VehicleConfig::generalMenuButtonClicked()
{
ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_GENERAL_CONFIG);
}
void QGCPX4VehicleConfig::advancedMenuButtonClicked()
{
ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_ADV_CONFIG);
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}
QGCPX4VehicleConfig::~QGCPX4VehicleConfig()
{
delete ui;
}
void QGCPX4VehicleConfig::setRCModeIndex(int newRcMode)
{
if (newRcMode > 0 && newRcMode < 6)
{
//rc_mode = (enum RC_MODE) (newRcMode+1);
changed = true;
}
}
void QGCPX4VehicleConfig::toggleCalibrationRC(bool enabled)
{
if (enabled)
{
startCalibrationRC();
}
else
{
stopCalibrationRC();
}
}
void QGCPX4VehicleConfig::setTrimPositions()
{
// Set trim to min if stick is close to min
if (abs(rcValue[rcMapping[3]] - rcMin[rcMapping[3]]) < 100)
{
rcTrim[rcMapping[3]] = rcMin[rcMapping[3]]; // throttle
}
// Set trim to max if stick is close to max
else if (abs(rcValue[rcMapping[3]] - rcMax[rcMapping[3]]) < 100)
{
rcTrim[rcMapping[3]] = rcMax[rcMapping[3]]; // throttle
}
else
{
// Reject
QMessageBox msgBox;
msgBox.setText(tr("Throttle Stick Trim Position Invalid"));
msgBox.setInformativeText(tr("The throttle stick is not in the min position. Please set it to the minimum value"));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
(void)msgBox.exec();
}
// Set trim for roll, pitch, yaw, throttle
rcTrim[rcMapping[0]] = rcValue[rcMapping[0]]; // roll
rcTrim[rcMapping[1]] = rcValue[rcMapping[1]]; // pitch
rcTrim[rcMapping[2]] = rcValue[rcMapping[2]]; // yaw
rcTrim[rcMapping[4]] = ((rcMax[rcMapping[4]] - rcMin[rcMapping[4]]) / 2.0f) + rcMin[rcMapping[4]]; // mode sw
rcTrim[rcMapping[5]] = ((rcMax[rcMapping[5]] - rcMin[rcMapping[5]]) / 2.0f) + rcMin[rcMapping[5]]; // aux 1
rcTrim[rcMapping[6]] = ((rcMax[rcMapping[6]] - rcMin[rcMapping[6]]) / 2.0f) + rcMin[rcMapping[6]]; // aux 2
rcTrim[rcMapping[7]] = ((rcMax[rcMapping[7]] - rcMin[rcMapping[7]]) / 2.0f) + rcMin[rcMapping[7]]; // aux 3
}
void QGCPX4VehicleConfig::detectChannelInversion()
{
}
void QGCPX4VehicleConfig::startCalibrationRC()
{
QMessageBox::information(0,"Warning!","You are about to start radio calibration.\nPlease ensure all motor power is disconnected AND all props are removed from the vehicle.\nAlso ensure transmitter and reciever are powered and connected\n\nClick OK to confirm");
QMessageBox::information(0,"Information","Click OK, then move all sticks to their extreme positions, watching the min/max values to ensure you get the most range from your controller. This includes all switches");
ui->rcTypeComboBox->setEnabled(false);
ui->rcCalibrationButton->setText(tr("Stop RC Calibration"));
resetCalibrationRC();
calibrationEnabled = true;
ui->rollWidget->showMinMax();
ui->pitchWidget->showMinMax();
ui->yawWidget->showMinMax();
ui->throttleWidget->showMinMax();
ui->radio5Widget->showMinMax();
ui->radio6Widget->showMinMax();
ui->radio7Widget->showMinMax();
ui->radio8Widget->showMinMax();
}
void QGCPX4VehicleConfig::stopCalibrationRC()
{
QMessageBox::information(0,"Trims","Ensure all sticks are centeres and throttle is in the downmost position, click OK to continue");
calibrationEnabled = false;
ui->rcTypeComboBox->setEnabled(true);
ui->rcCalibrationButton->setText(tr("Start RC Calibration"));
ui->rollWidget->hideMinMax();
ui->pitchWidget->hideMinMax();
ui->yawWidget->hideMinMax();
ui->throttleWidget->hideMinMax();
ui->radio5Widget->hideMinMax();
ui->radio6Widget->hideMinMax();
ui->radio7Widget->hideMinMax();
ui->radio8Widget->hideMinMax();
QString statusstr;
statusstr = "Below you will find the detected radio calibration information that will be sent to the autopilot\n";
statusstr += "Normal values are around 1100 to 1900, with disconnected channels reading very close to 1500\n\n";
statusstr += "Channel\tMin\tCenter\tMax\n";
statusstr += "--------------------\n";
for (int i=0;i<8;i++)
{
statusstr += QString::number(i) + "\t" + QString::number(rcMin[i]) + "\t" + QString::number(rcValue[i]) + "\t" + QString::number(rcMax[i]) + "\n";
}
QMessageBox::information(0,"Status",statusstr);
}
void QGCPX4VehicleConfig::loadQgcConfig(bool primary)
{
Q_UNUSED(primary);
QDir autopilotdir(qApp->applicationDirPath() + "/files/" + mav->getAutopilotTypeName().toLower());
QDir generaldir = QDir(autopilotdir.absolutePath() + "/general/widgets");
QDir vehicledir = QDir(autopilotdir.absolutePath() + "/" + mav->getSystemTypeName().toLower() + "/widgets");
if (!autopilotdir.exists("general"))
{
//TODO: Throw some kind of error here. There is no general configuration directory
qWarning() << "Invalid general dir. no general configuration will be loaded.";
}
if (!autopilotdir.exists(mav->getAutopilotTypeName().toLower()))
{
//TODO: Throw an error here too, no autopilot specific configuration
qWarning() << "Invalid vehicle dir, no vehicle specific configuration will be loaded.";
}
// Generate widgets for the General tab.
QGCToolWidget *tool;
bool left = true;
foreach (QString file,generaldir.entryList(QDir::Files | QDir::NoDotAndDotDot))
{
if (file.toLower().endsWith(".qgw")) {
QWidget* parent = left?ui->generalLeftContents:ui->generalRightContents;
tool = new QGCToolWidget("", parent);
if (tool->loadSettings(generaldir.absoluteFilePath(file), false))
{
toolWidgets.append(tool);
QGroupBox *box = new QGroupBox(parent);
box->setTitle(tool->objectName());
box->setLayout(new QVBoxLayout(box));
box->layout()->addWidget(tool);
if (left)
{
left = false;
ui->generalLeftLayout->addWidget(box);
}
else
{
left = true;
ui->generalRightLayout->addWidget(box);
}
} else {
delete tool;
}
}
}
// Generate widgets for the Advanced tab.
left = true;
foreach (QString file,vehicledir.entryList(QDir::Files | QDir::NoDotAndDotDot))
{
if (file.toLower().endsWith(".qgw")) {
tool = new QGCToolWidget("", parent);
if (tool->loadSettings(vehicledir.absoluteFilePath(file), false))
{
toolWidgets.append(tool);
QGroupBox *box = new QGroupBox(parent);
box->setTitle(tool->objectName());
box->setLayout(new QVBoxLayout(box));
box->layout()->addWidget(tool);
} else {
delete tool;
}
}
}
// Load tabs for general configuration
foreach (QString dir,generaldir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
{
QPushButton *button = new QPushButton(ui->leftNavScrollAreaWidgetContents);
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connect(button,SIGNAL(clicked()),this,SLOT(menuButtonClicked()));
ui->navBarLayout->insertWidget(2,button);
button->setMinimumHeight(75);
button->setMinimumWidth(100);
button->show();
button->setText(dir);
QWidget *tab = new QWidget(ui->stackedWidget);
ui->stackedWidget->insertWidget(2,tab);
buttonToWidgetMap[button] = tab;
tab->setLayout(new QVBoxLayout());
tab->show();
QScrollArea *area = new QScrollArea(tab);
tab->layout()->addWidget(area);
QWidget *scrollArea = new QWidget(tab);
scrollArea->setLayout(new QVBoxLayout(tab));
area->setWidget(scrollArea);
area->setWidgetResizable(true);
area->show();
scrollArea->show();
QDir newdir = QDir(generaldir.absoluteFilePath(dir));
foreach (QString file,newdir.entryList(QDir::Files| QDir::NoDotAndDotDot))
{
if (file.toLower().endsWith(".qgw")) {
tool = new QGCToolWidget("", tab);
if (tool->loadSettings(newdir.absoluteFilePath(file), false))
{
toolWidgets.append(tool);
//ui->sensorLayout->addWidget(tool);
QGroupBox *box = new QGroupBox(tab);
box->setTitle(tool->objectName());
box->setLayout(new QVBoxLayout(tab));
box->layout()->addWidget(tool);
scrollArea->layout()->addWidget(box);
} else {
delete tool;
}
}
}
}
// Load additional tabs for vehicle specific configuration
foreach (QString dir,vehicledir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
{
QPushButton *button = new QPushButton(ui->leftNavScrollAreaWidgetContents);
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connect(button,SIGNAL(clicked()),this,SLOT(menuButtonClicked()));
ui->navBarLayout->insertWidget(2,button);
QWidget *tab = new QWidget(ui->stackedWidget);
ui->stackedWidget->insertWidget(2,tab);
buttonToWidgetMap[button] = tab;
button->setMinimumHeight(75);
button->setMinimumWidth(100);
button->show();
button->setText(dir);
tab->setLayout(new QVBoxLayout());
tab->show();
QScrollArea *area = new QScrollArea(tab);
tab->layout()->addWidget(area);
QWidget *scrollArea = new QWidget(tab);
scrollArea->setLayout(new QVBoxLayout(tab));
area->setWidget(scrollArea);
area->setWidgetResizable(true);
area->show();
scrollArea->show();
QDir newdir = QDir(vehicledir.absoluteFilePath(dir));
foreach (QString file,newdir.entryList(QDir::Files| QDir::NoDotAndDotDot))
{
if (file.toLower().endsWith(".qgw")) {
tool = new QGCToolWidget("", tab);
tool->addUAS(mav);
if (tool->loadSettings(newdir.absoluteFilePath(file), false))
{
toolWidgets.append(tool);
//ui->sensorLayout->addWidget(tool);
QGroupBox *box = new QGroupBox(tab);
box->setTitle(tool->objectName());
box->setLayout(new QVBoxLayout(box));
box->layout()->addWidget(tool);
scrollArea->layout()->addWidget(box);
box->show();
//gbox->layout()->addWidget(box);
} else {
delete tool;
}
}
}
}
// Load general calibration for autopilot
//TODO: Handle this more gracefully, maybe have it scan the directory for multiple calibration entries?
tool = new QGCToolWidget("", ui->sensorContents);
tool->addUAS(mav);
if (tool->loadSettings(autopilotdir.absolutePath() + "/general/calibration/calibration.qgw", false))
{
toolWidgets.append(tool);
QGroupBox *box = new QGroupBox(ui->sensorContents);
box->setTitle(tool->objectName());
box->setLayout(new QVBoxLayout(box));
box->layout()->addWidget(tool);
ui->sensorLayout->addWidget(box);
} else {
delete tool;
}
// Load vehicle-specific autopilot configuration
tool = new QGCToolWidget("", ui->sensorContents);
tool->addUAS(mav);
if (tool->loadSettings(autopilotdir.absolutePath() + "/" + mav->getSystemTypeName().toLower() + "/calibration/calibration.qgw", false))
{
toolWidgets.append(tool);
QGroupBox *box = new QGroupBox(ui->sensorContents);
box->setTitle(tool->objectName());
box->setLayout(new QVBoxLayout(box));
box->layout()->addWidget(tool);
ui->sensorLayout->addWidget(box);
} else {
delete tool;
}
//description.txt
QFile sensortipsfile(autopilotdir.absolutePath() + "/general/calibration/description.txt");
sensortipsfile.open(QIODevice::ReadOnly);
ui->sensorTips->setHtml(sensortipsfile.readAll());
sensortipsfile.close();
}
void QGCPX4VehicleConfig::menuButtonClicked()
{
QPushButton *button = qobject_cast<QPushButton*>(sender());
if (!button)
{
return;
}
if (buttonToWidgetMap.contains(button))
{
ui->stackedWidget->setCurrentWidget(buttonToWidgetMap[button]);
}
}
void QGCPX4VehicleConfig::loadConfig()
{
QGCToolWidget* tool;
QDir autopilotdir(qApp->applicationDirPath() + "/files/" + mav->getAutopilotTypeName().toLower());
QDir generaldir = QDir(autopilotdir.absolutePath() + "/general/widgets");
QDir vehicledir = QDir(autopilotdir.absolutePath() + "/" + mav->getSystemTypeName().toLower() + "/widgets");
if (!autopilotdir.exists("general"))
{
//TODO: Throw some kind of error here. There is no general configuration directory
qWarning() << "Invalid general dir. no general configuration will be loaded.";
}
if (!autopilotdir.exists(mav->getAutopilotTypeName().toLower()))
{
//TODO: Throw an error here too, no autopilot specific configuration
qWarning() << "Invalid vehicle dir, no vehicle specific configuration will be loaded.";
}
qDebug() << autopilotdir.absolutePath();
qDebug() << generaldir.absolutePath();
qDebug() << vehicledir.absolutePath();
QFile xmlfile(autopilotdir.absolutePath() + "/arduplane.pdef.xml");
if (xmlfile.exists() && !xmlfile.open(QIODevice::ReadOnly))
{
loadQgcConfig(false);
doneLoadingConfig = true;
return;
}
loadQgcConfig(true);
QXmlStreamReader xml(xmlfile.readAll());
xmlfile.close();
//TODO: Testing to ensure that incorrectly formatted XML won't break this.
while (!xml.atEnd())
{
if (xml.isStartElement() && xml.name() == "paramfile")
{
xml.readNext();
while ((xml.name() != "paramfile") && !xml.atEnd())
{
QString valuetype = "";
if (xml.isStartElement() && (xml.name() == "vehicles" || xml.name() == "libraries")) //Enter into the vehicles loop
{
valuetype = xml.name().toString();
xml.readNext();
while ((xml.name() != valuetype) && !xml.atEnd())
{
if (xml.isStartElement() && xml.name() == "parameters") //This is a parameter block
{
QString parametersname = "";
if (xml.attributes().hasAttribute("name"))
{
parametersname = xml.attributes().value("name").toString();
}
QVariantMap genset;
QVariantMap advset;
QString setname = parametersname;
xml.readNext();
int genarraycount = 0;
int advarraycount = 0;
while ((xml.name() != "parameters") && !xml.atEnd())
{
if (xml.isStartElement() && xml.name() == "param")
{
QString humanname = xml.attributes().value("humanName").toString();
QString name = xml.attributes().value("name").toString();
QString tab= xml.attributes().value("user").toString();
if (tab == "Advanced")
{
advset["title"] = parametersname;
}
else
{
genset["title"] = parametersname;
}
if (name.contains(":"))
{
name = name.split(":")[1];
}
QString docs = xml.attributes().value("documentation").toString();
paramTooltips[name] = name + " - " + docs;
int type = -1; //Type of item
QMap<QString,QString> fieldmap;
xml.readNext();
while ((xml.name() != "param") && !xml.atEnd())
{
if (xml.isStartElement() && xml.name() == "values")
{
type = 1; //1 is a combobox
if (tab == "Advanced")
{
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "TYPE"] = "COMBO";
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_DESCRIPTION"] = humanname;
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_PARAMID"] = name;
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COMPONENTID"] = 1;
}
else
{
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "TYPE"] = "COMBO";
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_DESCRIPTION"] = humanname;
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_PARAMID"] = name;
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COMPONENTID"] = 1;
}
int paramcount = 0;
xml.readNext();
while ((xml.name() != "values") && !xml.atEnd())
{
if (xml.isStartElement() && xml.name() == "value")
{
QString code = xml.attributes().value("code").toString();
QString arg = xml.readElementText();
if (tab == "Advanced")
{
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_TEXT"] = arg;
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_VAL"] = code.toInt();
}
else
{
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_TEXT"] = arg;
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_VAL"] = code.toInt();
}
paramcount++;
}
xml.readNext();
}
if (tab == "Advanced")
{
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COUNT"] = paramcount;
}
else
{
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COUNT"] = paramcount;
}
}
if (xml.isStartElement() && xml.name() == "field")
{
type = 2; //2 is a slider
QString fieldtype = xml.attributes().value("name").toString();
QString text = xml.readElementText();
fieldmap[fieldtype] = text;
}
xml.readNext();
}
if (type == -1)
{
//Nothing inside! Assume it's a value, give it a default range.
type = 2;
QString fieldtype = "Range";
QString text = "0 100"; //TODO: Determine a better way of figuring out default ranges.
fieldmap[fieldtype] = text;
}
if (type == 2)
{
if (tab == "Advanced")
{
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "TYPE"] = "SLIDER";
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_DESCRIPTION"] = humanname;
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_PARAMID"] = name;
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_COMPONENTID"] = 1;
}
else
{
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "TYPE"] = "SLIDER";
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_DESCRIPTION"] = humanname;
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_PARAMID"] = name;
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_COMPONENTID"] = 1;
}
if (fieldmap.contains("Range"))
{
float min = 0;
float max = 0;
//Some range fields list "0-10" and some list "0 10". Handle both.
if (fieldmap["Range"].split(" ").size() > 1)
{
min = fieldmap["Range"].split(" ")[0].trimmed().toFloat();
max = fieldmap["Range"].split(" ")[1].trimmed().toFloat();
}
else if (fieldmap["Range"].split("-").size() > 1)
{
min = fieldmap["Range"].split("-")[0].trimmed().toFloat();
max = fieldmap["Range"].split("-")[1].trimmed().toFloat();
}
if (tab == "Advanced")
{
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_MIN"] = min;
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_MAX"] = max;
}
else
{
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_MIN"] = min;
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_MAX"] = max;
}
}
}
if (tab == "Advanced")
{
advarraycount++;
advset["count"] = advarraycount;
}
else
{
genarraycount++;
genset["count"] = genarraycount;
}
}
xml.readNext();
}
if (genarraycount > 0)
{
QWidget* parent = this;
if (valuetype == "vehicles")
{
parent = ui->generalLeftContents;
}
else if (valuetype == "libraries")
{
parent = ui->generalRightContents;
}
tool = new QGCToolWidget("", parent);
tool->addUAS(mav);
tool->setTitle(parametersname);
tool->setObjectName(parametersname);
tool->setSettings(genset);
QList<QString> paramlist = tool->getParamList();
for (int i=0;i<paramlist.size();i++)
{
//Based on the airframe, we add the parameter to different categories.
if (parametersname == "ArduPlane") //MAV_TYPE_FIXED_WING FIXED_WING
{
systemTypeToParamMap["FIXED_WING"].insert(paramlist[i],tool);
}
else if (parametersname == "ArduCopter") //MAV_TYPE_QUADROTOR "QUADROTOR
{
systemTypeToParamMap["QUADROTOR"].insert(paramlist[i],tool);
}
else if (parametersname == "APMrover2") //MAV_TYPE_GROUND_ROVER GROUND_ROVER
{
systemTypeToParamMap["GROUND_ROVER"].insert(paramlist[i],tool);
}
else
{
libParamToWidgetMap.insert(paramlist[i],tool);
}
}
toolWidgets.append(tool);
QGroupBox *box = new QGroupBox(parent);
box->setTitle(tool->objectName());
box->setLayout(new QVBoxLayout(box));
box->layout()->addWidget(tool);
if (valuetype == "vehicles")
{
ui->generalLeftLayout->addWidget(box);
}
else if (valuetype == "libraries")
{
ui->generalRightLayout->addWidget(box);
}
box->hide();
toolToBoxMap[tool] = box;
}
if (advarraycount > 0)
{
QWidget* parent = this;
if (valuetype == "vehicles")
{
parent = ui->generalLeftContents;
}
else if (valuetype == "libraries")
{
parent = ui->generalRightContents;
}
tool = new QGCToolWidget("", parent);
tool->addUAS(mav);
tool->setTitle(parametersname);
tool->setObjectName(parametersname);
tool->setSettings(advset);
QList<QString> paramlist = tool->getParamList();
for (int i=0;i<paramlist.size();i++)
{
//Based on the airframe, we add the parameter to different categories.
if (parametersname == "ArduPlane") //MAV_TYPE_FIXED_WING FIXED_WING
{
systemTypeToParamMap["FIXED_WING"].insert(paramlist[i],tool);
}
else if (parametersname == "ArduCopter") //MAV_TYPE_QUADROTOR "QUADROTOR
{
systemTypeToParamMap["QUADROTOR"].insert(paramlist[i],tool);
}
else if (parametersname == "APMrover2") //MAV_TYPE_GROUND_ROVER GROUND_ROVER
{
systemTypeToParamMap["GROUND_ROVER"].insert(paramlist[i],tool);
}
else
{
libParamToWidgetMap.insert(paramlist[i],tool);
}
}
toolWidgets.append(tool);
QGroupBox *box = new QGroupBox(parent);
box->setTitle(tool->objectName());
box->setLayout(new QVBoxLayout(box));
box->layout()->addWidget(tool);
if (valuetype == "vehicles")
{
ui->generalLeftLayout->addWidget(box);
}
else if (valuetype == "libraries")
{
ui->generalRightLayout->addWidget(box);
}
box->hide();
toolToBoxMap[tool] = box;
}
}
xml.readNext();
}
}
xml.readNext();
}
}
xml.readNext();
}
mav->getParamManager()->setParamInfo(paramTooltips);
doneLoadingConfig = true;
mav->requestParameters(); //Config is finished, lets do a parameter request to ensure none are missed if someone else started requesting before we were finished.
}
void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
{
// Hide items if NULL and abort
if (!active) {
ui->setButton->setEnabled(false);
ui->refreshButton->setEnabled(false);
ui->readButton->show();
ui->readButton->setEnabled(false);
ui->writeButton->show();
ui->writeButton->setEnabled(false);
ui->loadFileButton->setEnabled(false);
ui->saveFileButton->setEnabled(false);
return;
}
// Do nothing if UAS is already visible
if (mav == active)
return;
if (mav)
{
// Disconnect old system
disconnect(mav, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
SLOT(remoteControlChannelRawChanged(int,float)));
disconnect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
SLOT(parameterChanged(int,int,QString,QVariant)));
disconnect(ui->refreshButton,SIGNAL(clicked()),mav,SLOT(requestParameters()));
// Delete all children from all fixed tabs.
foreach(QWidget* child, ui->generalLeftContents->findChildren<QWidget*>())
{
child->deleteLater();
}
foreach(QWidget* child, ui->generalRightContents->findChildren<QWidget*>())
{
child->deleteLater();
}
foreach(QWidget* child, ui->advanceColumnContents->findChildren<QWidget*>())
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{
child->deleteLater();
}
foreach(QWidget* child, ui->sensorContents->findChildren<QWidget*>())
{
child->deleteLater();
}
// And then delete any custom tabs
foreach(QWidget* child, additionalTabs)
{
child->deleteLater();
}
additionalTabs.clear();
toolWidgets.clear();
paramToWidgetMap.clear();
libParamToWidgetMap.clear();
systemTypeToParamMap.clear();
toolToBoxMap.clear();
paramTooltips.clear();
}
// Connect new system
mav = active;
// Reset current state
resetCalibrationRC();
requestCalibrationRC();
mav->requestParameter(0, "RC_TYPE");
chanCount = 0;
// Connect new system
connect(active, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
SLOT(remoteControlChannelRawChanged(int,float)));
connect(active, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
SLOT(parameterChanged(int,int,QString,QVariant)));
connect(ui->refreshButton, SIGNAL(clicked()), active, SLOT(requestParameters()));
if (systemTypeToParamMap.contains(mav->getSystemTypeName()))
{
paramToWidgetMap = systemTypeToParamMap[mav->getSystemTypeName()];
}
else
{
//Indication that we have no meta data for this system type.
qDebug() << "No parameters defined for system type:" << mav->getSystemTypeName();
paramToWidgetMap = systemTypeToParamMap[mav->getSystemTypeName()];
}
if (!paramTooltips.isEmpty())
{
mav->getParamManager()->setParamInfo(paramTooltips);
}
qDebug() << "CALIBRATION!! System Type Name:" << mav->getSystemTypeName();
//Load configuration after 1ms. This allows it to go into the event loop, and prevents application hangups due to the
//amount of time it actually takes to load the configuration windows.
QTimer::singleShot(1,this,SLOT(loadConfig()));
updateStatus(QString("Reading from system %1").arg(mav->getUASName()));
// Since a system is now connected, enable the VehicleConfig UI.
ui->setButton->setEnabled(true);
ui->refreshButton->setEnabled(true);
ui->readButton->setEnabled(true);
ui->writeButton->setEnabled(true);
ui->loadFileButton->setEnabled(true);
ui->saveFileButton->setEnabled(true);
if (mav->getAutopilotTypeName() == "ARDUPILOTMEGA")
{
ui->readButton->hide();
ui->writeButton->hide();
}
}
void QGCPX4VehicleConfig::resetCalibrationRC()
{
for (unsigned int i = 0; i < chanMax; ++i)
{
rcMin[i] = 1500;
rcMax[i] = 1500;
}
}
/**
* Sends the RC calibration to the vehicle and stores it in EEPROM
*/
void QGCPX4VehicleConfig::writeCalibrationRC()
{
if (!mav) return;
QString minTpl("RC%1_MIN");
QString maxTpl("RC%1_MAX");
QString trimTpl("RC%1_TRIM");
QString revTpl("RC%1_REV");
// Do not write the RC type, as these values depend on this
// active onboard parameter
for (unsigned int i = 0; i < chanCount; ++i)
{
//qDebug() << "SENDING" << minTpl.arg(i+1) << rcMin[i];
mav->setParameter(0, minTpl.arg(i+1), rcMin[i]);
QGC::SLEEP::usleep(50000);
mav->setParameter(0, trimTpl.arg(i+1), rcTrim[i]);
QGC::SLEEP::usleep(50000);
mav->setParameter(0, maxTpl.arg(i+1), rcMax[i]);
QGC::SLEEP::usleep(50000);
mav->setParameter(0, revTpl.arg(i+1), (rcRev[i]) ? -1.0f : 1.0f);
QGC::SLEEP::usleep(50000);
}
// Write mappings
mav->setParameter(0, "RC_MAP_ROLL", (int32_t)(rcMapping[0]+1));
QGC::SLEEP::usleep(50000);
mav->setParameter(0, "RC_MAP_PITCH", (int32_t)(rcMapping[1]+1));
QGC::SLEEP::usleep(50000);
mav->setParameter(0, "RC_MAP_YAW", (int32_t)(rcMapping[2]+1));
QGC::SLEEP::usleep(50000);
mav->setParameter(0, "RC_MAP_THROTTLE", (int32_t)(rcMapping[3]+1));
QGC::SLEEP::usleep(50000);
mav->setParameter(0, "RC_MAP_MODE_SW", (int32_t)(rcMapping[4]+1));
QGC::SLEEP::usleep(50000);
mav->setParameter(0, "RC_MAP_AUX1", (int32_t)(rcMapping[5]+1));
QGC::SLEEP::usleep(50000);
mav->setParameter(0, "RC_MAP_AUX2", (int32_t)(rcMapping[6]+1));
QGC::SLEEP::usleep(50000);
mav->setParameter(0, "RC_MAP_AUX3", (int32_t)(rcMapping[7]+1));
QGC::SLEEP::usleep(50000);
}
void QGCPX4VehicleConfig::requestCalibrationRC()
{
if (!mav) return;
QString minTpl("RC%1_MIN");
QString maxTpl("RC%1_MAX");
QString trimTpl("RC%1_TRIM");
QString revTpl("RC%1_REV");
// Do not request the RC type, as these values depend on this
// active onboard parameter
for (unsigned int i = 0; i < chanMax; ++i)
{
mav->requestParameter(0, minTpl.arg(i+1));
QGC::SLEEP::usleep(5000);
mav->requestParameter(0, trimTpl.arg(i+1));
QGC::SLEEP::usleep(5000);
mav->requestParameter(0, maxTpl.arg(i+1));
QGC::SLEEP::usleep(5000);
mav->requestParameter(0, revTpl.arg(i+1));
QGC::SLEEP::usleep(5000);
}
}
void QGCPX4VehicleConfig::writeParameters()
{
updateStatus(tr("Writing all onboard parameters."));
writeCalibrationRC();
mav->writeParametersToStorage();
}
void QGCPX4VehicleConfig::remoteControlChannelRawChanged(int chan, float val)