diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index 22a883ae27583f0737e1c014ad35548afb65004e..cdd48cfdbbebcaf2715617a470e1a010c6aafba7 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -207,6 +207,11 @@ Set to 2 to use heading from motion capture + + Battery ADC Channel + This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default. + modules/sensors + Battery current per volt (A/V) The voltage seen by the 3.3V ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default. @@ -3177,6 +3182,20 @@ but also ignore less noise true drivers/gps + + GPS Baudrate + Configure the Baudrate for the GPS Serial Port. In most cases this can be set to Auto. The Trimble MB-Two GPS does not support auto-detection and uses a baudrate of 115200. + true + drivers/gps + + Auto + 9600 8N1 + 19200 8N1 + 38400 8N1 + 57600 8N1 + 115200 8N1 + + @@ -7747,7 +7766,7 @@ to takeoff is reached Logging Mode - Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming. This parameter is only for the new logger (SYS_LOGGER=1). + Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming. 0 2 true @@ -8713,13 +8732,14 @@ is less than 50% of this value Normal Telemetry (19200 baud, 8N1) Normal Telemetry (38400 baud, 8N1) Normal Telemetry (57600 baud, 8N1) - Iridium Telemetry (19200 baud, 8N1) Minimal Telemetry (19200 baud, 8N1) Minimal Telemetry (38400 baud, 8N1) Minimal Telemetry (57600 baud, 8N1) Companion Link (921600 baud, 8N1) + Companion Link (1500000 baud, 8N1) ESP8266 (921600 baud, 8N1) Normal Telemetry (115200 baud, 8N1) + Iridium Telemetry (115200 baud, 8N1) Minimal Telemetry (115200 baud, 8N1) RTPS Client (460800 baud) diff --git a/src/VehicleSetup/FirmwareImage.cc b/src/VehicleSetup/FirmwareImage.cc index eb37b5b5eeca049ef679b8114df6eff993a55708..e0fd7b685be77cbed1cb794677fb6ac21aef7851 100644 --- a/src/VehicleSetup/FirmwareImage.cc +++ b/src/VehicleSetup/FirmwareImage.cc @@ -57,6 +57,9 @@ bool FirmwareImage::load(const QString& imageFilename, uint32_t boardId) } else if (imageFilename.endsWith(".px4")) { _binFormat = true; return _px4Load(imageFilename); + } else if (imageFilename.endsWith(".apj")) { + _binFormat = true; + return _px4Load(imageFilename); } else if (imageFilename.endsWith(".ihx")) { _binFormat = false; return _ihxLoad(imageFilename); diff --git a/src/VehicleSetup/FirmwareUpgradeController.cc b/src/VehicleSetup/FirmwareUpgradeController.cc index 9300f6e2680d8dfab7d7724aaa9bcf3e351c1e6e..5c29162c4943ae56a666d694a8feb75b9161cba6 100644 --- a/src/VehicleSetup/FirmwareUpgradeController.cc +++ b/src/VehicleSetup/FirmwareUpgradeController.cc @@ -191,112 +191,19 @@ void FirmwareUpgradeController::_initFirmwareHash() return; } - //////////////////////////////////// PX4FMUV5 firmwares ////////////////////////////////////////////////// - FirmwareToUrlElement_t rgPX4FMV5FirmwareArray[] = { - { AutoPilotStackPX4, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v5_default.px4"}, - { AutoPilotStackPX4, BetaFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v5_default.px4"}, - { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v5_default.px4"}, - { SingleFirmwareMode,StableFirmware, DefaultVehicleFirmware, _singleFirmwareURL}, - }; - - //////////////////////////////////// PX4FMUV4PRO firmwares ////////////////////////////////////////////////// - FirmwareToUrlElement_t rgPX4FMV4PROFirmwareArray[] = { - { AutoPilotStackPX4, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v4pro_default.px4"}, - { AutoPilotStackPX4, BetaFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v4pro_default.px4"}, - { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v4pro_default.px4"}, - { SingleFirmwareMode,StableFirmware, DefaultVehicleFirmware, _singleFirmwareURL}, - }; - - //////////////////////////////////// PX4FMUV4 firmwares ////////////////////////////////////////////////// - FirmwareToUrlElement_t rgPX4FMV4FirmwareArray[] = { - { AutoPilotStackPX4, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v4_default.px4"}, - { AutoPilotStackPX4, BetaFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v4_default.px4"}, - { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v4_default.px4"}, - { AutoPilotStackAPM, StableFirmware, CopterFirmware, "http://firmware.ardupilot.org/Copter/stable/PX4/ArduCopter-v4.px4"}, - { AutoPilotStackAPM, StableFirmware, HeliFirmware, "http://firmware.ardupilot.org/Copter/stable/PX4-heli/ArduCopter-v4.px4"}, - { AutoPilotStackAPM, StableFirmware, PlaneFirmware, "http://firmware.ardupilot.org/Plane/stable/PX4/ArduPlane-v4.px4"}, - { AutoPilotStackAPM, StableFirmware, RoverFirmware, "http://firmware.ardupilot.org/Rover/stable/PX4/APMrover2-v4.px4"}, - { AutoPilotStackAPM, BetaFirmware, CopterFirmware, "http://firmware.ardupilot.org/Copter/beta/PX4/ArduCopter-v4.px4"}, - { AutoPilotStackAPM, BetaFirmware, HeliFirmware, "http://firmware.ardupilot.org/Copter/beta/PX4-heli/ArduCopter-v4.px4"}, - { AutoPilotStackAPM, BetaFirmware, PlaneFirmware, "http://firmware.ardupilot.org/Plane/beta/PX4/ArduPlane-v4.px4"}, - { AutoPilotStackAPM, BetaFirmware, RoverFirmware, "http://firmware.ardupilot.org/Rover/beta/PX4/APMrover2-v4.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, CopterFirmware, "http://firmware.ardupilot.org/Copter/latest/PX4/ArduCopter-v4.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, HeliFirmware, "http://firmware.ardupilot.org/Copter/latest/PX4-heli/ArduCopter-v4.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, PlaneFirmware, "http://firmware.ardupilot.org/Plane/latest/PX4/ArduPlane-v4.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, RoverFirmware, "http://firmware.ardupilot.org/Rover/latest/PX4/APMrover2-v4.px4"}, - { SingleFirmwareMode,StableFirmware, DefaultVehicleFirmware, _singleFirmwareURL}, - }; - - //////////////////////////////////// PX4FMUV3 firmwares ////////////////////////////////////////////////// - FirmwareToUrlElement_t rgPX4FMV3FirmwareArray[] = { - { AutoPilotStackPX4, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v3_default.px4"}, - { AutoPilotStackPX4, BetaFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v3_default.px4"}, - { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v3_default.px4"}, - { AutoPilotStackAPM, StableFirmware, CopterFirmware, "http://firmware.ardupilot.org/Copter/stable/PX4/ArduCopter-v3.px4"}, - { AutoPilotStackAPM, StableFirmware, HeliFirmware, "http://firmware.ardupilot.org/Copter/stable/PX4-heli/ArduCopter-v3.px4"}, - { AutoPilotStackAPM, StableFirmware, PlaneFirmware, "http://firmware.ardupilot.org/Plane/stable/PX4/ArduPlane-v2.px4"}, - { AutoPilotStackAPM, StableFirmware, RoverFirmware, "http://firmware.ardupilot.org/Rover/stable/PX4/APMrover2-v2.px4"}, - { AutoPilotStackAPM, StableFirmware, SubFirmware, "http://firmware.ardupilot.org/Sub/stable/PX4/ArduSub-v2.px4"}, - { AutoPilotStackAPM, BetaFirmware, CopterFirmware, "http://firmware.ardupilot.org/Copter/beta/PX4/ArduCopter-v3.px4"}, - { AutoPilotStackAPM, BetaFirmware, HeliFirmware, "http://firmware.ardupilot.org/Copter/beta/PX4-heli/ArduCopter-v3.px4"}, - { AutoPilotStackAPM, BetaFirmware, PlaneFirmware, "http://firmware.ardupilot.org/Plane/beta/PX4/ArduPlane-v3.px4"}, - { AutoPilotStackAPM, BetaFirmware, RoverFirmware, "http://firmware.ardupilot.org/Rover/beta/PX4/APMrover2-v3.px4"}, - { AutoPilotStackAPM, BetaFirmware, SubFirmware, "http://firmware.ardupilot.org/Sub/beta/PX4/ArduSub-v3.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, CopterFirmware, "http://firmware.ardupilot.org/Copter/latest/PX4/ArduCopter-v3.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, HeliFirmware, "http://firmware.ardupilot.org/Copter/latest/PX4-heli/ArduCopter-v3.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, PlaneFirmware, "http://firmware.ardupilot.org/Plane/latest/PX4/ArduPlane-v3.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, RoverFirmware, "http://firmware.ardupilot.org/Rover/latest/PX4/APMrover2-v3.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, SubFirmware, "http://firmware.ardupilot.org/Sub/latest/PX4/ArduSub-v3.px4"}, - { SingleFirmwareMode,StableFirmware, DefaultVehicleFirmware, _singleFirmwareURL}, - }; - - //////////////////////////////////// PX4FMUV2 firmwares ////////////////////////////////////////////////// - FirmwareToUrlElement_t rgPX4FMV2FirmwareArray[] = { - { AutoPilotStackPX4, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v2_default.px4"}, - { AutoPilotStackPX4, BetaFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v2_default.px4"}, - { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v2_default.px4"}, - { AutoPilotStackAPM, StableFirmware, CopterFirmware, "http://firmware.ardupilot.org/Copter/stable/PX4/ArduCopter-v2.px4"}, - { AutoPilotStackAPM, StableFirmware, HeliFirmware, "http://firmware.ardupilot.org/Copter/stable/PX4-heli/ArduCopter-v2.px4"}, - { AutoPilotStackAPM, StableFirmware, PlaneFirmware, "http://firmware.ardupilot.org/Plane/stable/PX4/ArduPlane-v2.px4"}, - { AutoPilotStackAPM, StableFirmware, RoverFirmware, "http://firmware.ardupilot.org/Rover/stable/PX4/APMrover2-v2.px4"}, - { AutoPilotStackAPM, StableFirmware, SubFirmware, "http://firmware.ardupilot.org/Sub/stable/PX4/ArduSub-v2.px4"}, - { AutoPilotStackAPM, BetaFirmware, CopterFirmware, "http://firmware.ardupilot.org/Copter/beta/PX4/ArduCopter-v2.px4"}, - { AutoPilotStackAPM, BetaFirmware, HeliFirmware, "http://firmware.ardupilot.org/Copter/beta/PX4-heli/ArduCopter-v2.px4"}, - { AutoPilotStackAPM, BetaFirmware, PlaneFirmware, "http://firmware.ardupilot.org/Plane/beta/PX4/ArduPlane-v2.px4"}, - { AutoPilotStackAPM, BetaFirmware, RoverFirmware, "http://firmware.ardupilot.org/Rover/beta/PX4/APMrover2-v2.px4"}, - { AutoPilotStackAPM, BetaFirmware, SubFirmware, "http://firmware.ardupilot.org/Sub/beta/PX4/ArduSub-v2.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, CopterFirmware, "http://firmware.ardupilot.org/Copter/latest/PX4/ArduCopter-v2.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, HeliFirmware, "http://firmware.ardupilot.org/Copter/latest/PX4-heli/ArduCopter-v2.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, PlaneFirmware, "http://firmware.ardupilot.org/Plane/latest/PX4/ArduPlane-v2.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, RoverFirmware, "http://firmware.ardupilot.org/Rover/latest/PX4/APMrover2-v2.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, SubFirmware, "http://firmware.ardupilot.org/Sub/latest/PX4/ArduSub-v2.px4"}, - { SingleFirmwareMode,StableFirmware, DefaultVehicleFirmware, _singleFirmwareURL}, - }; - //////////////////////////////////// PX4FMU aerocore firmwares ////////////////////////////////////////////////// FirmwareToUrlElement_t rgAeroCoreFirmwareArray[] = { { AutoPilotStackPX4, StableFirmware, DefaultVehicleFirmware, "http://gumstix-aerocore.s3.amazonaws.com/PX4/stable/aerocore_default.px4"}, { AutoPilotStackPX4, BetaFirmware, DefaultVehicleFirmware, "http://gumstix-aerocore.s3.amazonaws.com/PX4/beta/aerocore_default.px4"}, { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://gumstix-aerocore.s3.amazonaws.com/PX4/master/aerocore_default.px4"}, - { AutoPilotStackAPM, StableFirmware, QuadFirmware, "http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-quad/ArduCopter-v2.px4"}, - { AutoPilotStackAPM, StableFirmware, X8Firmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-octa-quad/ArduCopter-v2.px4"}, - { AutoPilotStackAPM, StableFirmware, HexaFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-hexa/ArduCopter-v2.px4"}, - { AutoPilotStackAPM, StableFirmware, OctoFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-octa/ArduCopter-v2.px4"}, - { AutoPilotStackAPM, StableFirmware, YFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-tri/ArduCopter-v2.px4"}, - { AutoPilotStackAPM, StableFirmware, Y6Firmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-y6/ArduCopter-v2.px4"}, + { AutoPilotStackAPM, BetaFirmware, CopterFirmware, "http://firmware.ardupilot.org/Copter/beta/PX4/ArduCopter-v2.px4"}, { AutoPilotStackAPM, StableFirmware, HeliFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-heli/ArduCopter-v2.px4"}, { AutoPilotStackAPM, StableFirmware, PlaneFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Plane/stable/PX4/ArduPlane-v2.px4"}, { AutoPilotStackAPM, StableFirmware, RoverFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Rover/stable/PX4/APMrover2-v2.px4"}, - { AutoPilotStackAPM, BetaFirmware, CopterFirmware, "http://firmware.ardupilot.org/Copter/beta/PX4/ArduCopter-v2.px4"}, { AutoPilotStackAPM, BetaFirmware, HeliFirmware, "http://firmware.ardupilot.org/Copter/beta/PX4-heli/ArduCopter-v2.px4"}, { AutoPilotStackAPM, BetaFirmware, PlaneFirmware, "http://firmware.ardupilot.org/Plane/beta/PX4/ArduPlane-v2.px4"}, { AutoPilotStackAPM, BetaFirmware, RoverFirmware, "http://firmware.ardupilot.org/Rover/beta/PX4/APMrover2-v2.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, QuadFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-quad/ArduCopter-v2.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, X8Firmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-octa-quad/ArduCopter-v2.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, HexaFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-hexa/ArduCopter-v2.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, OctoFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-octa/ArduCopter-v2.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, YFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-tri/ArduCopter-v2.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, Y6Firmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-y6/ArduCopter-v2.px4"}, + { AutoPilotStackAPM, DeveloperFirmware, CopterFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4/ArduCopter-v2.px4"}, { AutoPilotStackAPM, DeveloperFirmware, HeliFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-heli/ArduCopter-v2.px4"}, { AutoPilotStackAPM, DeveloperFirmware, PlaneFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Plane/latest/PX4/ArduPlane-v2.px4"}, { AutoPilotStackAPM, DeveloperFirmware, RoverFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Rover/latest/PX4/APMrover2-v2.px4"} @@ -361,38 +268,112 @@ void FirmwareUpgradeController::_initFirmwareHash() { ThreeDRRadio, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/SiK/stable/radio~hm_trp.ihx"} }; - // populate hashes now - int size = sizeof(rgPX4FMV5FirmwareArray)/sizeof(rgPX4FMV5FirmwareArray[0]); - for (int i = 0; i < size; i++) { - const FirmwareToUrlElement_t& element = rgPX4FMV5FirmwareArray[i]; - _rgPX4FMUV5Firmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url); - } - - size = sizeof(rgPX4FMV4PROFirmwareArray)/sizeof(rgPX4FMV4PROFirmwareArray[0]); - for (int i = 0; i < size; i++) { - const FirmwareToUrlElement_t& element = rgPX4FMV4PROFirmwareArray[i]; - _rgPX4FMUV4PROFirmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url); - } - - size = sizeof(rgPX4FMV4FirmwareArray)/sizeof(rgPX4FMV4FirmwareArray[0]); - for (int i = 0; i < size; i++) { - const FirmwareToUrlElement_t& element = rgPX4FMV4FirmwareArray[i]; - _rgPX4FMUV4Firmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url); - } - - size = sizeof(rgPX4FMV3FirmwareArray)/sizeof(rgPX4FMV3FirmwareArray[0]); - for (int i = 0; i < size; i++) { - const FirmwareToUrlElement_t& element = rgPX4FMV3FirmwareArray[i]; - _rgPX4FMUV3Firmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url); + // We build the maps for PX4 and ArduPilot firmwares dynamically using the data below + +#if 0 + Example URLs for PX4 and ArduPilot + { AutoPilotStackPX4, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v4_default.px4"}, + { AutoPilotStackAPM, StableFirmware, CopterFirmware, "http://firmware.ardupilot.org/Copter/stable/PX4/ArduCopter-v4.px4"}, + { AutoPilotStackAPM, DeveloperFirmware, CopterChibiosFirmware, "http://firmware.ardupilot.org/Copter/latest/fmuv4/arducopter.apj"}, +#endif + + QString px4Url ("http://px4-travis.s3.amazonaws.com/Firmware/%1/px4fmu-%2_default.px4"); + QString apmUrl ("http://firmware.ardupilot.org/%1/%2/%3/%4-v%5.px4"); + QString apmChibiOSUrl ("http://firmware.ardupilot.org/%1/%2/fmuv%3%4/%5.apj"); + + QMap px4MapFirmwareTypeToDir; + px4MapFirmwareTypeToDir[StableFirmware] = QStringLiteral("stable"); + px4MapFirmwareTypeToDir[BetaFirmware] = QStringLiteral("beta"); + px4MapFirmwareTypeToDir[DeveloperFirmware] = QStringLiteral("master"); + + QMap apmMapVehicleTypeToDir; + apmMapVehicleTypeToDir[CopterFirmware] = QStringLiteral("Copter"); + apmMapVehicleTypeToDir[HeliFirmware] = QStringLiteral("Copter"); + apmMapVehicleTypeToDir[PlaneFirmware] = QStringLiteral("Plane"); + apmMapVehicleTypeToDir[RoverFirmware] = QStringLiteral("Rover"); + apmMapVehicleTypeToDir[SubFirmware] = QStringLiteral("Sub"); + + QMap apmChibiOSMapVehicleTypeToDir; + apmChibiOSMapVehicleTypeToDir[CopterChibiOSFirmware] = QStringLiteral("Copter"); + apmChibiOSMapVehicleTypeToDir[HeliChibiOSFirmware] = QStringLiteral("Copter"); + apmChibiOSMapVehicleTypeToDir[PlaneChibiOSFirmware] = QStringLiteral("Plane"); + apmChibiOSMapVehicleTypeToDir[RoverChibiOSFirmware] = QStringLiteral("Rover"); + apmChibiOSMapVehicleTypeToDir[SubChibiOSFirmware] = QStringLiteral("Sub"); + + QMap apmMapFirmwareTypeToDir; + apmMapFirmwareTypeToDir[StableFirmware] = QStringLiteral("stable"); + apmMapFirmwareTypeToDir[BetaFirmware] = QStringLiteral("beta"); + apmMapFirmwareTypeToDir[DeveloperFirmware] = QStringLiteral("latest"); + + QMap apmMapVehicleTypeToPX4Dir; + apmMapVehicleTypeToPX4Dir[CopterFirmware] = QStringLiteral("PX4"); + apmMapVehicleTypeToPX4Dir[HeliFirmware] = QStringLiteral("PX4-heli"); + apmMapVehicleTypeToPX4Dir[PlaneFirmware] = QStringLiteral("PX4"); + apmMapVehicleTypeToPX4Dir[RoverFirmware] = QStringLiteral("PX4"); + apmMapVehicleTypeToPX4Dir[SubFirmware] = QStringLiteral("PX4"); + + QMap apmMapVehicleTypeToFilename; + apmMapVehicleTypeToFilename[CopterFirmware] = QStringLiteral("ArduCopter"); + apmMapVehicleTypeToFilename[HeliFirmware] = QStringLiteral("ArduCopter"); + apmMapVehicleTypeToFilename[PlaneFirmware] = QStringLiteral("ArduPlane"); + apmMapVehicleTypeToFilename[RoverFirmware] = QStringLiteral("APMrover2"); + apmMapVehicleTypeToFilename[SubFirmware] = QStringLiteral("ArduSub"); + + QMap apmChibiOSMapVehicleTypeToFmuDir; + apmChibiOSMapVehicleTypeToFmuDir[CopterChibiOSFirmware] = QString(); + apmChibiOSMapVehicleTypeToFmuDir[HeliChibiOSFirmware] = QStringLiteral("-heli"); + apmChibiOSMapVehicleTypeToFmuDir[PlaneChibiOSFirmware] = QString(); + apmChibiOSMapVehicleTypeToFmuDir[RoverChibiOSFirmware] = QString(); + apmChibiOSMapVehicleTypeToFmuDir[SubChibiOSFirmware] = QString(); + + QMap apmChibiOSMapVehicleTypeToFilename; + apmChibiOSMapVehicleTypeToFilename[CopterChibiOSFirmware] = QStringLiteral("arducopter"); + apmChibiOSMapVehicleTypeToFilename[HeliChibiOSFirmware] = QStringLiteral("arducopter-heli"); + apmChibiOSMapVehicleTypeToFilename[PlaneChibiOSFirmware] = QStringLiteral("arduplane"); + apmChibiOSMapVehicleTypeToFilename[RoverChibiOSFirmware] = QStringLiteral("ardurover"); + apmChibiOSMapVehicleTypeToFilename[SubChibiOSFirmware] = QStringLiteral("ardusub"); + + // PX4 Firmwares + foreach (const FirmwareType_t& firmwareType, px4MapFirmwareTypeToDir.keys()) { + QString dir = px4MapFirmwareTypeToDir[firmwareType]; + _rgPX4FMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v5")); + _rgPX4FMUV4PROFirmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v4pro")); + _rgPX4FMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v4")); + _rgPX4FMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v3")); + _rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v2")); + } + + // ArduPilot Firmwares + foreach (const FirmwareType_t& firmwareType, apmMapFirmwareTypeToDir.keys()) { + QString firmwareTypeDir = apmMapFirmwareTypeToDir[firmwareType]; + foreach (const FirmwareVehicleType_t& vehicleType, apmMapVehicleTypeToDir.keys()) { + QString vehicleTypeDir = apmMapVehicleTypeToDir[vehicleType]; + QString px4Dir = apmMapVehicleTypeToPX4Dir[vehicleType]; + QString filename = apmMapVehicleTypeToFilename[vehicleType]; + qDebug() << firmwareTypeDir << vehicleTypeDir << px4Dir << filename; + _rgPX4FMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("5")); + _rgPX4FMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("4")); + _rgPX4FMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("3")); + _rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("2")); + } } - size = sizeof(rgPX4FMV2FirmwareArray)/sizeof(rgPX4FMV2FirmwareArray[0]); - for (int i = 0; i < size; i++) { - const FirmwareToUrlElement_t& element = rgPX4FMV2FirmwareArray[i]; - _rgPX4FMUV2Firmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url); + // ArduPilot ChibiOS Firmwares + foreach (const FirmwareType_t& firmwareType, apmMapFirmwareTypeToDir.keys()) { + QString firmwareTypeDir = apmMapFirmwareTypeToDir[firmwareType]; + foreach (const FirmwareVehicleType_t& vehicleType, apmChibiOSMapVehicleTypeToDir.keys()) { + QString vehicleTypeDir = apmChibiOSMapVehicleTypeToDir[vehicleType]; + QString fmuDir = apmChibiOSMapVehicleTypeToFmuDir[vehicleType]; + QString filename = apmChibiOSMapVehicleTypeToFilename[vehicleType]; + qDebug() << firmwareTypeDir << vehicleTypeDir << fmuDir << filename; + _rgPX4FMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("5").arg(fmuDir).arg(filename)); + _rgPX4FMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("4").arg(fmuDir).arg(filename)); + _rgPX4FMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("3").arg(fmuDir).arg(filename)); + _rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("2").arg(fmuDir).arg(filename)); + } } - size = sizeof(rgAeroCoreFirmwareArray)/sizeof(rgAeroCoreFirmwareArray[0]); + int size = sizeof(rgAeroCoreFirmwareArray)/sizeof(rgAeroCoreFirmwareArray[0]); for (int i = 0; i < size; i++) { const FirmwareToUrlElement_t& element = rgAeroCoreFirmwareArray[i]; _rgAeroCoreFirmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url); @@ -719,6 +700,7 @@ void FirmwareUpgradeController::_apmVersionDownloadFinished(QString remoteFile, if (version.isEmpty()) { qWarning() << "Unable to parse version info from file" << remoteFile; + sender()->deleteLater(); return; } @@ -735,6 +717,7 @@ void FirmwareUpgradeController::_apmVersionDownloadFinished(QString remoteFile, } emit apmAvailableVersionsChanged(); + sender()->deleteLater(); } void FirmwareUpgradeController::setSelectedFirmwareType(FirmwareType_t firmwareType) @@ -750,7 +733,7 @@ QStringList FirmwareUpgradeController::apmAvailableVersions(void) QList vehicleTypes; // This allows up to force the order of the combo box display - vehicleTypes << CopterFirmware << HeliFirmware << PlaneFirmware << RoverFirmware << SubFirmware; + vehicleTypes << CopterFirmware << HeliFirmware << PlaneFirmware << RoverFirmware << SubFirmware << CopterChibiOSFirmware << HeliChibiOSFirmware << PlaneChibiOSFirmware << RoverChibiOSFirmware << SubChibiOSFirmware; _apmVehicleTypeFromCurrentVersionList.clear(); @@ -759,36 +742,24 @@ QStringList FirmwareUpgradeController::apmAvailableVersions(void) QString version; switch (vehicleType) { - case QuadFirmware: - version = "Quad - "; - break; - case X8Firmware: - version = "X8 - "; - break; - case HexaFirmware: - version = "Hexa - "; - break; - case OctoFirmware: - version = "Octo - "; - break; - case YFirmware: - version = "Y - "; - break; - case Y6Firmware: - version = "Y6 - "; + case CopterFirmware: + version = tr("MultiRotor - "); break; case HeliFirmware: - version = "Heli - "; + version = tr("Heli - "); break; - case CopterFirmware: - version = "MultiRotor - "; + case CopterChibiOSFirmware: + version = tr("ChibiOS:MultiRotor - "); + break; + case HeliChibiOSFirmware: + version = tr("ChibiOS:Heli - "); break; - case SubFirmware: - version = "Sub - "; + case PlaneChibiOSFirmware: + case RoverChibiOSFirmware: + case SubChibiOSFirmware: + version = tr("ChibiOS - "); break; - case PlaneFirmware: - case RoverFirmware: - case DefaultVehicleFirmware: + default: break; } @@ -806,7 +777,7 @@ FirmwareUpgradeController::FirmwareVehicleType_t FirmwareUpgradeController::vehi { if (index < 0 || index >= _apmVehicleTypeFromCurrentVersionList.count()) { qWarning() << "Invalid index, index:count" << index << _apmVehicleTypeFromCurrentVersionList.count(); - return QuadFirmware; + return CopterFirmware; } return _apmVehicleTypeFromCurrentVersionList[index]; diff --git a/src/VehicleSetup/FirmwareUpgradeController.h b/src/VehicleSetup/FirmwareUpgradeController.h index 5979655b2139385eb394570ee448b924b9e9b02d..7b99a86cee51f298f361bb9e173ff2a1d998b117 100644 --- a/src/VehicleSetup/FirmwareUpgradeController.h +++ b/src/VehicleSetup/FirmwareUpgradeController.h @@ -54,17 +54,16 @@ public: } FirmwareType_t; typedef enum { - QuadFirmware, - X8Firmware, - HexaFirmware, - OctoFirmware, - YFirmware, - Y6Firmware, - HeliFirmware, CopterFirmware, + HeliFirmware, PlaneFirmware, RoverFirmware, SubFirmware, + CopterChibiOSFirmware, + HeliChibiOSFirmware, + PlaneChibiOSFirmware, + RoverChibiOSFirmware, + SubChibiOSFirmware, DefaultVehicleFirmware } FirmwareVehicleType_t; diff --git a/src/comm/QGCSerialPortInfo.cc b/src/comm/QGCSerialPortInfo.cc index 5e3c51331e7759331d22f4758f0fa47df387ab0a..883239e26b1a3ceb8f9d3171cf6b3861ce829812 100644 --- a/src/comm/QGCSerialPortInfo.cc +++ b/src/comm/QGCSerialPortInfo.cc @@ -185,6 +185,8 @@ QGCSerialPortInfo::BoardType_t QGCSerialPortInfo::_boardClassStringToType(const bool QGCSerialPortInfo::getBoardInfo(QGCSerialPortInfo::BoardType_t& boardType, QString& name) const { + boardType = BoardTypeUnknown; + _loadJsonData(); if (isNull()) { @@ -220,7 +222,6 @@ bool QGCSerialPortInfo::getBoardInfo(QGCSerialPortInfo::BoardType_t& boardType, } } - boardType = BoardTypeUnknown; return false; } diff --git a/src/comm/USBBoardInfo.json b/src/comm/USBBoardInfo.json index f68a71f0bd1f77ce8302f290182d605b086f7464..5683489fc99fe40dd7551e2507becee4a481120e 100644 --- a/src/comm/USBBoardInfo.json +++ b/src/comm/USBBoardInfo.json @@ -57,6 +57,7 @@ { "regExp": "^PX4 Crazyflie v2.0", "boardClass": "Pixhawk" }, { "regExp": "^Crazyflie BL", "boardClass": "Pixhawk" }, { "regExp": "^PX4 OmnibusF4SD", "boardClass": "Pixhawk" }, + { "regExp": "^fmuv[2345]$", "boardClass": "Pixhawk" }, { "regExp": "PX4.*Flow", "boardClass": "PX4 Flow" }, { "regExp": "^FT231X USB UART$", "boardClass": "SiK Radio" }, { "regExp": "USB UART$", "boardClass": "SiK Radio", "androidOnly": true, "comment": "Very broad fallback, too dangerous for non-android" }