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Valentin Platzgummer
qgroundcontrol
Commits
14ec0d07
Commit
14ec0d07
authored
Aug 09, 2019
by
Willian Galvani
Browse files
Deal with new Parameters in ArduSub 3.6 and 4.0
parent
ff85d1b9
Changes
2
Hide whitespace changes
Inline
Side-by-side
src/AutoPilotPlugins/APM/APMTuningComponentSub.qml
View file @
14ec0d07
...
...
@@ -105,27 +105,62 @@ SetupPage {
height
:
velColumn
.
height
+
_margins
*
2
color
:
palette
.
windowShade
Column
{
Component
{
id
:
velColumnUpTo36
Column
{
anchors.margins
:
_margins
anchors.left
:
parent
.
left
anchors.right
:
parent
.
right
anchors.top
:
parent
.
top
spacing
:
_margins
*
1.5
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_POSXY_P
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_POSZ_P
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_VELXY_P
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_VELXY_I
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_VELXY_IMAX
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_VELZ_P
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_ACCZ_D
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_ACCZ_FILT
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_ACCZ_I
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_ACCZ_IMAX
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_ACCZ_P
"
)
}
}
// Column - VEL parameters
}
Component
{
id
:
velColumn40
Column
{
anchors.margins
:
_margins
anchors.left
:
parent
.
left
anchors.right
:
parent
.
right
anchors.top
:
parent
.
top
spacing
:
_margins
*
1.5
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_POSXY_P
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_POSZ_P
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_VELXY_P
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_VELXY_I
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_VELXY_IMAX
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_VELZ_P
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_ACCZ_D
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_ACCZ_FLTD
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_ACCZ_FLTE
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_ACCZ_FLTT
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_ACCZ_I
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_ACCZ_IMAX
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
r.PSC_ACCZ_P
"
)
}
}
// Column - VEL parameters
}
Loader
{
id
:
velColumn
anchors.margins
:
_margins
anchors.left
:
parent
.
left
anchors.right
:
parent
.
right
anchors.top
:
parent
.
top
spacing
:
_margins
*
1.5
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
POS_XY_P
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
POS_Z_P
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
VEL_XY_P
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
VEL_XY_I
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
VEL_XY_IMAX
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
VEL_Z_P
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
ACCEL_Z_D
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
ACCEL_Z_FILT
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
ACCEL_Z_I
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
ACCEL_Z_IMAX
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
ACCEL_Z_P
"
)
}
}
// Column - VEL parameters
sourceComponent
:
activeVehicle
.
versionCompare
(
3
,
6
,
0
)
<=
0
?
velColumnUpTo36
:
velColumnUpTo36
}
}
// Rectangle - VEL parameters
Rectangle
{
...
...
@@ -136,26 +171,63 @@ SetupPage {
height
:
wpnavColumn
.
height
+
_margins
*
2
color
:
palette
.
windowShade
Column
{
// WPNAV parameters up to 3.5
Component
{
id
:
wpnavColumn35
Column
{
anchors.margins
:
_margins
anchors.left
:
parent
.
left
anchors.right
:
parent
.
right
anchors.top
:
parent
.
top
spacing
:
_margins
*
1.5
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_ACCEL
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_ACCEL_Z
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_LOIT_JERK
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_LOIT_MAXA
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_LOIT_MINA
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_LOIT_SPEED
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_RADIUS
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_SPEED
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_SPEED_DN
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_SPEED_UP
"
)
}
}
}
// WPNAV parameters for 3.6 and upwards
Component
{
id
:
wpnavColumn36
Column
{
anchors.margins
:
_margins
anchors.left
:
parent
.
left
anchors.right
:
parent
.
right
anchors.top
:
parent
.
top
spacing
:
_margins
*
1.5
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_ACCEL
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_ACCEL_Z
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_RADIUS
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_SPEED
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_SPEED_DN
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_SPEED_UP
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
LOIT_SPEED
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
LOIT_ACC_MAX
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
LOIT_ANG_MAX
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
LOIT_BRK_ACCEL
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
LOIT_BRK_DELAY
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
LOIT_BRK_JERK
"
)
}
}
}
Loader
{
id
:
wpnavColumn
anchors.margins
:
_margins
anchors.left
:
parent
.
left
anchors.right
:
parent
.
right
anchors.top
:
parent
.
top
spacing
:
_margins
*
1.5
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_ACCEL
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_ACCEL_Z
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_LOIT_JERK
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_LOIT_MAXA
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_LOIT_MINA
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_LOIT_SPEED
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_RADIUS
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_SPEED
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_SPEED_DN
"
)
}
FactTextFieldSlider
{
fact
:
controller
.
getParameterFact
(
-
1
,
"
WPNAV_SPEED_UP
"
)
}
}
// Column - WPNAV parameters
sourceComponent
:
activeVehicle
.
versionCompare
(
3
,
6
,
0
)
<
0
?
wpnavColumn35
:
wpnavColumn36
}
}
// Rectangle - WPNAV parameters
}
// Column
}
// Component
...
...
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
View file @
14ec0d07
...
...
@@ -118,6 +118,17 @@ ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void):
remapV3_6
[
"BATT_LOW_MAH"
]
=
QStringLiteral
(
"FS_BATT_MAH"
);
remapV3_6
[
"BATT_LOW_VOLT"
]
=
QStringLiteral
(
"FS_BATT_VOLTAGE"
);
remapV3_6
[
"BATT_FS_LOW_ACT"
]
=
QStringLiteral
(
"FS_BATT_ENABLE"
);
remapV3_6
[
"PSC_POSXY_P"
]
=
QStringLiteral
(
"POS_XY_P"
);
remapV3_6
[
"PSC_POSZ_P"
]
=
QStringLiteral
(
"POS_Z_P"
);
remapV3_6
[
"PSC_VELXY_P"
]
=
QStringLiteral
(
"VEL_XY_P"
);
remapV3_6
[
"PSC_VELXY_I"
]
=
QStringLiteral
(
"VEL_XY_I"
);
remapV3_6
[
"PSC_VELXY_IMAX"
]
=
QStringLiteral
(
"VEL_XY_IMAX"
);
remapV3_6
[
"PSC_VELZ_P"
]
=
QStringLiteral
(
"VEL_Z_P"
);
remapV3_6
[
"PSC_ACCZ_I"
]
=
QStringLiteral
(
"ACCEL_Z_I"
);
remapV3_6
[
"PSC_ACCZ_D"
]
=
QStringLiteral
(
"ACCEL_Z_D"
);
remapV3_6
[
"PSC_ACCZ_P"
]
=
QStringLiteral
(
"ACCEL_Z_P"
);
remapV3_6
[
"PSC_ACCZ_IMAX"
]
=
QStringLiteral
(
"ACCEL_Z_IMAX"
);
remapV3_6
[
"PSC_ACCZ_FILT"
]
=
QStringLiteral
(
"ACCEL_Z_FILT"
);
_remapParamNameIntialized
=
true
;
}
...
...
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