support MindPX v2. (#3382)

src/VehicleSetup/Bootloader.h

@@ -80,6 +80,7 @@ public:
     static const int boardIDPX4Flow = 6;    ///< PX4 Flow board
     static const int boardIDAeroCore = 98;  ///< Gumstix AeroCore board
     static const int boardID3DRRadio = 78;  ///< 3DR Radio
+    static const int boardIDMINDPXFMUV2 = 88;  ///< MindPX V2 board
     
 signals:
     /// @brief Signals progress indicator for long running bootloader utility routines

src/VehicleSetup/FirmwareUpgrade.qml

@@ -110,7 +110,7 @@ QGCView {
             } else {
                 // We end up here when we detect a board plugged in after we've started upgrade
                 statusTextArea.append(highlightPrefix + qsTr("Found device") + highlightSuffix + ": " + controller.boardType)
-                if (controller.boardType == "Pixhawk" || controller.boardType == "AeroCore" || controller.boardType == "PX4 Flow" || controller.boardType == "PX4 FMU V1") {
+                if (controller.boardType == "Pixhawk" || controller.boardType == "AeroCore" || controller.boardType == "PX4 Flow" || controller.boardType == "PX4 FMU V1" || controller.boardType == "MindPX") {
                     showDialog(pixhawkFirmwareSelectDialog, title, qgcView.showDialogDefaultWidth, StandardButton.Ok | StandardButton.Cancel)
                 }
             }

src/VehicleSetup/FirmwareUpgradeController.cc

@@ -143,6 +143,10 @@ void FirmwareUpgradeController::_foundBoard(bool firstAttempt, const QSerialPort
         _foundBoardTypeName = "AeroCore";
         _startFlashWhenBootloaderFound = false;
         break;
+    case QGCSerialPortInfo::BoardTypeMINDPXFMUV2:
+        _foundBoardTypeName = "MindPX";
+        _startFlashWhenBootloaderFound = false;
+        break;
     case QGCSerialPortInfo::BoardTypePX4Flow:
         _foundBoardTypeName = "PX4 Flow";
         _startFlashWhenBootloaderFound = false;
@@ -318,6 +322,12 @@ void FirmwareUpgradeController::_initFirmwareHash()
         { AutoPilotStackAPM, DeveloperFirmware, RoverFirmware,          "http://firmware.ardupilot.org/Rover/latest/PX4/APMrover2-v1.px4"}
     };
 
+    //////////////////////////////////// MindPXFMUV2 firmwares //////////////////////////////////////////////////
+    FirmwareToUrlElement_t rgMindPXFMUV2FirmwareArray[] = {
+        { AutoPilotStackPX4, StableFirmware,    DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/mindpx-v2_default.px4"},
+        { AutoPilotStackPX4, BetaFirmware,      DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/mindpx-v2_default.px4"},
+        { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/mindpx-v2_default.px4"},
+    };
     /////////////////////////////// px4flow firmwares ///////////////////////////////////////
     FirmwareToUrlElement_t rgPX4FLowFirmwareArray[] = {
         { PX4Flow, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Flow/master/px4flow.px4" },
@@ -353,6 +363,12 @@ void FirmwareUpgradeController::_initFirmwareHash()
         _rgPX4FMUV1Firmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
     }
 
+    size = sizeof(rgMindPXFMUV2FirmwareArray)/sizeof(rgMindPXFMUV2FirmwareArray[0]);
+    for (int i = 0; i < size; i++) {
+        const FirmwareToUrlElement_t& element = rgMindPXFMUV2FirmwareArray[i];
+        _rgMindPXFMUV2Firmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
+    }
+
     size = sizeof(rgPX4FLowFirmwareArray)/sizeof(rgPX4FLowFirmwareArray[0]);
     for (int i = 0; i < size; i++) {
         const FirmwareToUrlElement_t& element = rgPX4FLowFirmwareArray[i];
@@ -386,6 +402,8 @@ QHash<FirmwareUpgradeController::FirmwareIdentifier, QString>* FirmwareUpgradeCo
         return &_rgPX4FMUV4Firmware;
     case Bootloader::boardIDAeroCore:
         return &_rgAeroCoreFirmware;
+    case Bootloader::boardIDMINDPXFMUV2:
+        return &_rgMindPXFMUV2Firmware;
     case Bootloader::boardID3DRRadio:
         return &_rg3DRRadioFirmware;
     default:
@@ -410,6 +428,9 @@ QHash<FirmwareUpgradeController::FirmwareIdentifier, QString>* FirmwareUpgradeCo
     case QGCSerialPortInfo::BoardTypeAeroCore:
         boardId = Bootloader::boardIDAeroCore;
         break;
+    case QGCSerialPortInfo::BoardTypeMINDPXFMUV2:
+        boardId = Bootloader::boardIDMINDPXFMUV2;
+        break;
     case QGCSerialPortInfo::BoardTypePX4Flow:
         boardId = Bootloader::boardIDPX4Flow;
         break;

src/VehicleSetup/FirmwareUpgradeController.h

@@ -197,6 +197,7 @@ private:
     QHash<FirmwareIdentifier, QString> _rgPX4FMUV2Firmware;
     QHash<FirmwareIdentifier, QString> _rgAeroCoreFirmware;
     QHash<FirmwareIdentifier, QString> _rgPX4FMUV1Firmware;
+    QHash<FirmwareIdentifier, QString> _rgMindPXFMUV2Firmware;
     QHash<FirmwareIdentifier, QString> _rgPX4FLowFirmware;
     QHash<FirmwareIdentifier, QString> _rg3DRRadioFirmware;
 

src/comm/LinkManager.cc

@@ -549,6 +549,12 @@ void LinkManager::_updateAutoConnectLinks(void)
                         pSerialConfig->setUsbDirect(true);
                     }
                     break;
+                case QGCSerialPortInfo::BoardTypeMINDPXFMUV2:
+                    if (_autoconnectPixhawk) {
+                        pSerialConfig = new SerialConfiguration(QString("MindPX on %1").arg(portInfo.portName().trimmed()));
+                        pSerialConfig->setUsbDirect(true);
+                    }
+                    break;
                 case QGCSerialPortInfo::BoardTypePX4Flow:
                     if (_autoconnectPX4Flow) {
                         pSerialConfig = new SerialConfiguration(QString("PX4Flow on %1").arg(portInfo.portName().trimmed()));

src/comm/QGCSerialPortInfo.cc

@@ -37,6 +37,7 @@ static const struct VIDPIDMapInfo_s {
     { QGCSerialPortInfo::px4VendorId,           QGCSerialPortInfo::pixhawkFMUV1ProductId,               QGCSerialPortInfo::BoardTypePX4FMUV1,   "Found PX4 FMU V1" },
     { QGCSerialPortInfo::px4VendorId,           QGCSerialPortInfo::px4FlowProductId,                    QGCSerialPortInfo::BoardTypePX4Flow,    "Found PX4 Flow" },
     { QGCSerialPortInfo::px4VendorId,           QGCSerialPortInfo::AeroCoreProductId,                   QGCSerialPortInfo::BoardTypeAeroCore,   "Found AeroCore" },
+    { QGCSerialPortInfo::px4VendorId,           QGCSerialPortInfo::MindPXFMUV2ProductId,                QGCSerialPortInfo::BoardTypeMINDPXFMUV2,"Found MindPX FMU V2" },
     { QGCSerialPortInfo::threeDRRadioVendorId,  QGCSerialPortInfo::threeDRRadioProductId,               QGCSerialPortInfo::BoardTypeSikRadio,   "Found SiK Radio" },
     { QGCSerialPortInfo::siLabsRadioVendorId,   QGCSerialPortInfo::siLabsRadioProductId,                QGCSerialPortInfo::BoardTypeSikRadio,   "Found SiK Radio" },
     { QGCSerialPortInfo::ubloxRTKVendorId,      QGCSerialPortInfo::ubloxRTKProductId,                   QGCSerialPortInfo::BoardTypeRTKGPS,     "Found RTK GPS" },
@@ -90,6 +91,9 @@ QGCSerialPortInfo::BoardType_t QGCSerialPortInfo::boardType(void) const
         } else if (description().contains(QRegExp("PX4.*Flow", Qt::CaseInsensitive))) {
             qCDebug(QGCSerialPortInfoLog) << "Found possible px4 flow camera (by name matching fallback)";
             boardType = BoardTypePX4Flow;
+        } else if (description() == "MindPX FMU v2.x" || description() == "MindPX BL FMU v2.x") {
+            qCDebug(QGCSerialPortInfoLog) << "Found MindPX FMU V2 (by name matching fallback)";
+            boardType = BoardTypeMINDPXFMUV2;
         } else if (description() == "FT231X USB UART") {
             qCDebug(QGCSerialPortInfoLog) << "Found possible Radio (by name matching fallback)";
             boardType = BoardTypeSikRadio;
@@ -121,7 +125,9 @@ bool QGCSerialPortInfo::boardTypePixhawk(void) const
 {
     BoardType_t boardType = this->boardType();
 
-    return boardType == BoardTypePX4FMUV1 || boardType == BoardTypePX4FMUV2 || boardType == BoardTypePX4FMUV4 || boardType == BoardTypeAeroCore;
+    return boardType == BoardTypePX4FMUV1 || boardType == BoardTypePX4FMUV2
+            || boardType == BoardTypePX4FMUV4 || boardType == BoardTypeAeroCore
+            || boardType == BoardTypeMINDPXFMUV2;
 }
 
 bool QGCSerialPortInfo::isBootloader(void) const

src/comm/QGCSerialPortInfo.h

@@ -47,6 +47,7 @@ public:
         BoardTypeSikRadio,
         BoardTypeAeroCore,
         BoardTypeRTKGPS,
+        BoardTypeMINDPXFMUV2,
         BoardTypeUnknown
     } BoardType_t;
 
@@ -63,6 +64,8 @@ public:
     
     static const int px4FlowProductId =                     21;     ///< Product ID for PX4 Flow board
 
+    static const int MindPXFMUV2ProductId =                 48;     ///< Product ID for the MindPX V2 board
+
     static const int threeDRRadioVendorId =                 1027;   ///< Vendor ID for 3DR Radio
     static const int threeDRRadioProductId =                24597;  ///< Product ID for 3DR Radio