diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 02138037259bcb53f763b9c39d724a2a16936f16..222329fda3ed8427c978642cc5f97109798c84ea 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -590,7 +590,8 @@ HEADERS+= \
src/AutoPilotPlugins/PX4/AirframeComponentAirframes.h \
src/AutoPilotPlugins/PX4/AirframeComponentController.h \
src/AutoPilotPlugins/PX4/FlightModesComponent.h \
- src/AutoPilotPlugins/PX4/FlightModesComponentController.h \
+ src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.h \
+ src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.h \
src/AutoPilotPlugins/PX4/PowerComponent.h \
src/AutoPilotPlugins/PX4/PowerComponentController.h \
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h \
@@ -646,7 +647,8 @@ SOURCES += \
src/AutoPilotPlugins/PX4/AirframeComponentAirframes.cc \
src/AutoPilotPlugins/PX4/AirframeComponentController.cc \
src/AutoPilotPlugins/PX4/FlightModesComponent.cc \
- src/AutoPilotPlugins/PX4/FlightModesComponentController.cc \
+ src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.cc \
+ src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.cc \
src/AutoPilotPlugins/PX4/PowerComponent.cc \
src/AutoPilotPlugins/PX4/PowerComponentController.cc \
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc \
diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
index d5c8c2f5eaeff718ecfbfdd2fbecbb236497b61d..e553d7f62db4dabb47049e6d31b6277cd89677ef 100644
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -14,7 +14,9 @@
<file alias="LogDownload.qml">src/ViewWidgets/LogDownload.qml</file>
<file alias="FirmwareUpgrade.qml">src/VehicleSetup/FirmwareUpgrade.qml</file>
<file alias="FlightDisplayView.qml">src/FlightDisplay/FlightDisplayView.qml</file>
- <file alias="FlightModesComponent.qml">src/AutoPilotPlugins/PX4/FlightModesComponent.qml</file>
+ <file alias="PX4FlightModes.qml">src/AutoPilotPlugins/PX4/PX4FlightModes.qml</file>
+ <file alias="PX4AdvancedFlightModes.qml">src/AutoPilotPlugins/PX4/PX4AdvancedFlightModes.qml</file>
+ <file alias="PX4SimpleFlightModes.qml">src/AutoPilotPlugins/PX4/PX4SimpleFlightModes.qml</file>
<file alias="FlightModesComponentSummary.qml">src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml</file>
<file alias="APMFlightModesComponent.qml">src/AutoPilotPlugins/APM/APMFlightModesComponent.qml</file>
<file alias="APMFlightModesComponentSummary.qml">src/AutoPilotPlugins/APM/APMFlightModesComponentSummary.qml</file>
diff --git a/src/AutoPilotPlugins/PX4/FlightModesComponent.cc b/src/AutoPilotPlugins/PX4/FlightModesComponent.cc
index 5825147a2bdd887909657b94b45b1eff8ad8a259..fcf7aa9dc29e345f2d772ddd849ba119f1b10b3f 100644
--- a/src/AutoPilotPlugins/PX4/FlightModesComponent.cc
+++ b/src/AutoPilotPlugins/PX4/FlightModesComponent.cc
@@ -63,18 +63,30 @@ bool FlightModesComponent::requiresSetup(void) const
bool FlightModesComponent::setupComplete(void) const
{
- return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ||
- _autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->rawValue().toInt() != 0;
+ if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
+ return true;
+ }
+
+ if (_autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->rawValue().toInt() != 0 ||
+ (_autopilot->parameterExists(FactSystem::defaultComponentId, "RC_MAP_FLTMODE") && _autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_FLTMODE")->rawValue().toInt() != 0)) {
+ return true;
+ }
+
+ return false;
}
QStringList FlightModesComponent::setupCompleteChangedTriggerList(void) const
{
- return QStringList("RC_MAP_MODE_SW");
+ QStringList list;
+
+ list << QStringLiteral("RC_MAP_MODE_SW") << QStringLiteral("RC_MAP_FLTMODE");
+
+ return list;
}
QUrl FlightModesComponent::setupSource(void) const
{
- return QUrl::fromUserInput("qrc:/qml/FlightModesComponent.qml");
+ return QUrl::fromUserInput("qrc:/qml/PX4FlightModes.qml");
}
QUrl FlightModesComponent::summaryQmlSource(void) const
diff --git a/src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml b/src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml
index 87b392db26fc721af1c2c63bb896037053846ed7..13630c3724861f8e276ef25a3f5f4d2d90563934 100644
--- a/src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml
+++ b/src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml
@@ -1,10 +1,11 @@
-import QtQuick 2.2
+import QtQuick 2.2
import QtQuick.Controls 1.2
-import QGroundControl.FactSystem 1.0
-import QGroundControl.FactControls 1.0
-import QGroundControl.Controls 1.0
-import QGroundControl.Palette 1.0
+import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.Palette 1.0
+import QGroundControl.ScreenTools 1.0
FactPanel {
id: panel
@@ -14,33 +15,68 @@ FactPanel {
QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
FactPanelController { id: controller; factPanel: panel }
- property Fact modeSwFact: controller.getParameterFact(-1, "RC_MAP_MODE_SW")
- property Fact posCtlSwFact: controller.getParameterFact(-1, "RC_MAP_POSCTL_SW")
- property Fact loiterSwFact: controller.getParameterFact(-1, "RC_MAP_LOITER_SW")
- property Fact returnSwFact: controller.getParameterFact(-1, "RC_MAP_RETURN_SW")
+ property Fact _nullFact
+ property Fact _rcMapFltmode: controller.parameterExists(-1, "RC_MAP_FLTMODE") ? controller.getParameterFact(-1, "RC_MAP_FLTMODE") : _nullFact
+ property Fact _rcMapModeSw: controller.getParameterFact(-1, "RC_MAP_MODE_SW")
+ property bool _simpleMode: _rcMapFltmode.value > 0 || _rcMapModeSw.value == 0
- Column {
+
+ Loader {
anchors.fill: parent
- anchors.margins: 8
+ sourceComponent: _simpleMode ? simple : advanced
+ }
- VehicleSummaryRow {
- labelText: "Mode switch:"
- valueText: modeSwFact ? (modeSwFact.value === 0 ? "Setup required" : modeSwFact.valueString) : ""
- }
+ Component {
+ id: simple
- VehicleSummaryRow {
- labelText: "Position Ctl switch:"
- valueText: posCtlSwFact ? (posCtlSwFact.value === 0 ? "Disabled" : posCtlSwFact.valueString) : ""
- }
+ Column {
+ anchors.margins: 8
- VehicleSummaryRow {
- labelText: "Loiter switch:"
- valueText: loiterSwFact ? (loiterSwFact.value === 0 ? "Disabled" : loiterSwFact.valueString) : ""
+ VehicleSummaryRow {
+ labelText: "Mode switch:"
+ valueText: _rcMapFltmode.value === 0 ? "Setup required" : _rcMapFltmode.enumStringValue
+ }
+
+ Repeater {
+ model: 6
+
+ VehicleSummaryRow {
+ labelText: "Flight Mode " + (index + 1) + ":"
+ valueText: controller.getParameterFact(-1, "COM_FLTMODE" + (index + 1)).enumStringValue
+ }
+ }
}
+ }
+
+ Component {
+ id: advanced
+
+ Column {
+ anchors.margins: 8
+
+ property Fact posCtlSwFact: controller.getParameterFact(-1, "RC_MAP_POSCTL_SW")
+ property Fact loiterSwFact: controller.getParameterFact(-1, "RC_MAP_LOITER_SW")
+ property Fact returnSwFact: controller.getParameterFact(-1, "RC_MAP_RETURN_SW")
+
+ VehicleSummaryRow {
+ labelText: "Mode switch:"
+ valueText: _rcMapModeSw.value === 0 ? "Setup required" : _rcMapModeSw.valueString
+ }
+
+ VehicleSummaryRow {
+ labelText: "Position Ctl switch:"
+ valueText: posCtlSwFact.value === 0 ? "Disabled" : posCtlSwFact.valueString
+ }
+
+ VehicleSummaryRow {
+ labelText: "Loiter switch:"
+ valueText: loiterSwFact.value === 0 ? "Disabled" : loiterSwFact.valueString
+ }
- VehicleSummaryRow {
- labelText: "Return switch:"
- valueText: returnSwFact ? (returnSwFact.value === 0 ? "Disabled" : returnSwFact.valueString) : ""
+ VehicleSummaryRow {
+ labelText: "Return switch:"
+ valueText: returnSwFact.value === 0 ? "Disabled" : returnSwFact.valueString
+ }
}
}
}
diff --git a/src/AutoPilotPlugins/PX4/FlightModesComponent.qml b/src/AutoPilotPlugins/PX4/PX4AdvancedFlightModes.qml
similarity index 51%
rename from src/AutoPilotPlugins/PX4/FlightModesComponent.qml
rename to src/AutoPilotPlugins/PX4/PX4AdvancedFlightModes.qml
index d63a3edcfca7c7a0ad4e59df8d180d1287b3e96f..ee673b5a867a6e69683a9e795f4fd7a97910552c 100644
--- a/src/AutoPilotPlugins/PX4/FlightModesComponent.qml
+++ b/src/AutoPilotPlugins/PX4/PX4AdvancedFlightModes.qml
@@ -34,9 +34,13 @@ import QGroundControl.Controls 1.0
import QGroundControl.Controllers 1.0
import QGroundControl.ScreenTools 1.0
-QGCView {
- id: qgcView
- viewPanel: panel
+/// PX4 Advanced Flight Mode configuration
+Item {
+ id: root
+
+ // The following properties must be pushed in from the Loader
+ //property var qgcView - QGCView control
+ //property var qgcViewPanel - QGCViewPanel control
readonly property int monitorThresholdCharWidth: 8 // Character width of Monitor and Threshold labels
@@ -120,13 +124,11 @@ QGCView {
readonly property real modeSpacing: ScreenTools.defaultFontPixelHeight / 3
- property Fact rcInMode: controller.getParameterFact(-1, "COM_RC_IN_MODE")
-
QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
- FlightModesComponentController {
+ PX4AdvancedFlightModesController {
id: controller
- factPanel: panel
+ factPanel: qgcViewPanel
onModeRowsChanged: recalcModePositions()
}
@@ -137,9 +139,6 @@ QGCView {
onTriggered: {
recalcModePositions()
- if (rcInMode.value == 1) {
- showDialog(joystickEnabledDialogComponent, title, qgcView.showDialogDefaultWidth, 0)
- }
}
}
@@ -194,225 +193,233 @@ QGCView {
scrollItem.height = nextY
}
- QGCViewPanel {
- id: panel
- anchors.fill: parent
+ Component {
+ id: joystickEnabledDialogComponent
- Component {
- id: joystickEnabledDialogComponent
-
- QGCViewMessage {
- message: "Flight Mode Config is disabled since you have a Joystick enabled."
- }
+ QGCViewMessage {
+ message: "Flight Mode Config is disabled since you have a Joystick enabled."
}
+ }
+
+ ScrollView {
+ id: scroll
+ anchors.fill: parent
+ horizontalScrollBarPolicy: Qt.ScrollBarAlwaysOff
- ScrollView {
- id: scroll
- anchors.fill: parent
- horizontalScrollBarPolicy: Qt.ScrollBarAlwaysOff
+ Item {
+ id: scrollItem
+ width: scroll.viewport.width
Item {
- id: scrollItem
- width: scroll.viewport.width
-
- Item {
- id: helpApplyRow
- width: parent.width
- height: Math.max(helpText.contentHeight, applyButton.height)
-
- QGCLabel {
- id: helpText
- anchors.rightMargin: ScreenTools.defaultFontPixelWidth
- anchors.left: parent.left
- anchors.right: applyButton.left
- text: topHelpText
- font.pixelSize: ScreenTools.defaultFontPixelSize
- wrapMode: Text.WordWrap
+ id: helpApplyRow
+ width: parent.width
+ height: Math.max(helpText.contentHeight, applyButton.y + applyButton.height)
+
+ QGCLabel {
+ id: helpText
+ anchors.rightMargin: ScreenTools.defaultFontPixelWidth
+ anchors.left: parent.left
+ anchors.right: buttonColumn.left
+ text: topHelpText
+ font.pixelSize: ScreenTools.defaultFontPixelSize
+ wrapMode: Text.WordWrap
+ }
+
+ Column {
+ id: buttonColumn
+ anchors.rightMargin: ScreenTools.defaultFontPixelWidth
+ anchors.right: parent.right
+ spacing: ScreenTools.defaultFontPixelHeight / 4
+
+ QGCButton {
+ text: "Use Simple Flight Modes"
+ visible: controller.parameterExists(-1, "RC_MAP_FLTMODE")
+ onClicked: {
+ controller.getParameterFact(-1, "RC_MAP_MODE_SW").value = 0
+ controller.getParameterFact(-1, "RC_MAP_FLTMODE").value = 5
+ }
}
QGCButton {
id: applyButton
- anchors.rightMargin: ScreenTools.defaultFontPixelWidth
- anchors.right: parent.right
text: "Generate Thresholds"
-
onClicked: controller.generateThresholds()
}
}
+ }
- Item {
- id: lastSpacer
- anchors.top: helpApplyRow.bottom
- height: ScreenTools.defaultFontPixelHeight
- width: 10
- }
+ Item {
+ id: lastSpacer
+ anchors.top: helpApplyRow.bottom
+ height: ScreenTools.defaultFontPixelHeight
+ width: 10
+ }
- ModeSwitchDisplay {
- id: manualMode
- anchors.top: lastSpacer.bottom
- flightModeName: controller.fixedWing ? fwManualModeName : mrManualModeName
- flightModeDescription: controller.fixedWing ? fwManualModeDescription : mrManualModeDescription
- rcValue: controller.manualModeRcValue
- modeChannelIndex: controller.manualModeChannelIndex
- modeChannelEnabled: true
- modeSelected: controller.manualModeSelected
- thresholdValue: controller.manualModeThreshold
- thresholdDragEnabled: false
-
- onModeChannelIndexSelected: controller.manualModeChannelIndex = index
- }
+ ModeSwitchDisplay {
+ id: manualMode
+ anchors.top: lastSpacer.bottom
+ flightModeName: controller.fixedWing ? fwManualModeName : mrManualModeName
+ flightModeDescription: controller.fixedWing ? fwManualModeDescription : mrManualModeDescription
+ rcValue: controller.manualModeRcValue
+ modeChannelIndex: controller.manualModeChannelIndex
+ modeChannelEnabled: true
+ modeSelected: controller.manualModeSelected
+ thresholdValue: controller.manualModeThreshold
+ thresholdDragEnabled: false
+
+ onModeChannelIndexSelected: controller.manualModeChannelIndex = index
+ }
- ModeSwitchDisplay {
- id: assistMode
- visible: controller.assistModeVisible
- flightModeName: assistModeName
- flightModeDescription: assistModeDescription
- rcValue: controller.assistModeRcValue
- modeChannelIndex: controller.assistModeChannelIndex
- modeChannelEnabled: false
- modeSelected: controller.assistModeSelected
- thresholdValue: controller.assistModeThreshold
- thresholdDragEnabled: true
-
- onThresholdValueChanged: controller.assistModeThreshold = thresholdValue
-
- Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
- }
+ ModeSwitchDisplay {
+ id: assistMode
+ visible: controller.assistModeVisible
+ flightModeName: assistModeName
+ flightModeDescription: assistModeDescription
+ rcValue: controller.assistModeRcValue
+ modeChannelIndex: controller.assistModeChannelIndex
+ modeChannelEnabled: false
+ modeSelected: controller.assistModeSelected
+ thresholdValue: controller.assistModeThreshold
+ thresholdDragEnabled: true
+
+ onThresholdValueChanged: controller.assistModeThreshold = thresholdValue
+
+ Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
+ }
- ModeSwitchDisplay {
- id: autoMode
- visible: controller.autoModeVisible
- flightModeName: autoModeName
- flightModeDescription: autoModeDescription
- rcValue: controller.autoModeRcValue
- modeChannelIndex: controller.autoModeChannelIndex
- modeChannelEnabled: false
- modeSelected: controller.autoModeSelected
- thresholdValue: controller.autoModeThreshold
- thresholdDragEnabled: true
-
- onThresholdValueChanged: controller.autoModeThreshold = thresholdValue
-
- Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
- }
+ ModeSwitchDisplay {
+ id: autoMode
+ visible: controller.autoModeVisible
+ flightModeName: autoModeName
+ flightModeDescription: autoModeDescription
+ rcValue: controller.autoModeRcValue
+ modeChannelIndex: controller.autoModeChannelIndex
+ modeChannelEnabled: false
+ modeSelected: controller.autoModeSelected
+ thresholdValue: controller.autoModeThreshold
+ thresholdDragEnabled: true
+
+ onThresholdValueChanged: controller.autoModeThreshold = thresholdValue
+
+ Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
+ }
- ModeSwitchDisplay {
- id: acroMode
- flightModeName: controller.fixedWing ? fwAcroModeName : mrAcroModeName
- flightModeDescription: controller.fixedWing ? fwAcroModeDescription : mrAcroModeDescription
- rcValue: controller.acroModeRcValue
- modeChannelIndex: controller.acroModeChannelIndex
- modeChannelEnabled: true
- modeSelected: controller.acroModeSelected
- thresholdValue: controller.acroModeThreshold
- thresholdDragEnabled: true
-
- onModeChannelIndexSelected: controller.acroModeChannelIndex = index
- onThresholdValueChanged: controller.acroModeThreshold = thresholdValue
-
- Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
- }
+ ModeSwitchDisplay {
+ id: acroMode
+ flightModeName: controller.fixedWing ? fwAcroModeName : mrAcroModeName
+ flightModeDescription: controller.fixedWing ? fwAcroModeDescription : mrAcroModeDescription
+ rcValue: controller.acroModeRcValue
+ modeChannelIndex: controller.acroModeChannelIndex
+ modeChannelEnabled: true
+ modeSelected: controller.acroModeSelected
+ thresholdValue: controller.acroModeThreshold
+ thresholdDragEnabled: true
+
+ onModeChannelIndexSelected: controller.acroModeChannelIndex = index
+ onThresholdValueChanged: controller.acroModeThreshold = thresholdValue
+
+ Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
+ }
- ModeSwitchDisplay {
- id: altCtlMode
- flightModeName: altCtlModeName
- flightModeDescription: controller.fixedWing ? fwAltCtlModeDescription : mrAltCtlModeDescription
- rcValue: controller.altCtlModeRcValue
- modeChannelIndex: controller.altCtlModeChannelIndex
- modeChannelEnabled: false
- modeSelected: controller.altCtlModeSelected
- thresholdValue: controller.altCtlModeThreshold
- thresholdDragEnabled: !controller.assistModeVisible
+ ModeSwitchDisplay {
+ id: altCtlMode
+ flightModeName: altCtlModeName
+ flightModeDescription: controller.fixedWing ? fwAltCtlModeDescription : mrAltCtlModeDescription
+ rcValue: controller.altCtlModeRcValue
+ modeChannelIndex: controller.altCtlModeChannelIndex
+ modeChannelEnabled: false
+ modeSelected: controller.altCtlModeSelected
+ thresholdValue: controller.altCtlModeThreshold
+ thresholdDragEnabled: !controller.assistModeVisible
- onThresholdValueChanged: controller.altCtlModeThreshold = thresholdValue
+ onThresholdValueChanged: controller.altCtlModeThreshold = thresholdValue
- Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
- }
+ Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
+ }
- ModeSwitchDisplay {
- id: posCtlMode
- flightModeName: posCtlModeName
- flightModeDescription: controller.fixedWing ? fwPosCtlModeDescription : mrPosCtlModeDescription
- rcValue: controller.posCtlModeRcValue
- modeChannelIndex: controller.posCtlModeChannelIndex
- modeChannelEnabled: true
- modeSelected: controller.posCtlModeSelected
- thresholdValue: controller.posCtlModeThreshold
- thresholdDragEnabled: true
-
- onModeChannelIndexSelected: controller.posCtlModeChannelIndex = index
- onThresholdValueChanged: controller.posCtlModeThreshold = thresholdValue
-
- Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
- }
+ ModeSwitchDisplay {
+ id: posCtlMode
+ flightModeName: posCtlModeName
+ flightModeDescription: controller.fixedWing ? fwPosCtlModeDescription : mrPosCtlModeDescription
+ rcValue: controller.posCtlModeRcValue
+ modeChannelIndex: controller.posCtlModeChannelIndex
+ modeChannelEnabled: true
+ modeSelected: controller.posCtlModeSelected
+ thresholdValue: controller.posCtlModeThreshold
+ thresholdDragEnabled: true
+
+ onModeChannelIndexSelected: controller.posCtlModeChannelIndex = index
+ onThresholdValueChanged: controller.posCtlModeThreshold = thresholdValue
+
+ Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
+ }
- ModeSwitchDisplay {
- id: missionMode
- flightModeName: missionModeName
- flightModeDescription: missionModeDescription
- rcValue: controller.missionModeRcValue
- modeChannelIndex: controller.missionModeChannelIndex
- modeChannelEnabled: false
- modeSelected: controller.missionModeSelected
- thresholdValue: controller.missionModeThreshold
- thresholdDragEnabled: !controller.autoModeVisible
+ ModeSwitchDisplay {
+ id: missionMode
+ flightModeName: missionModeName
+ flightModeDescription: missionModeDescription
+ rcValue: controller.missionModeRcValue
+ modeChannelIndex: controller.missionModeChannelIndex
+ modeChannelEnabled: false
+ modeSelected: controller.missionModeSelected
+ thresholdValue: controller.missionModeThreshold
+ thresholdDragEnabled: !controller.autoModeVisible
- onThresholdValueChanged: controller.missionModeThreshold = thresholdValue
+ onThresholdValueChanged: controller.missionModeThreshold = thresholdValue
- Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
- }
+ Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
+ }
- ModeSwitchDisplay {
- id: loiterMode
- flightModeName: loiterModeName
- flightModeDescription: controller.fixedWing ? fwLoiterModeDescription : mrLoiterModeDescription
- rcValue: controller.loiterModeRcValue
- modeChannelIndex: controller.loiterModeChannelIndex
- modeChannelEnabled: true
- modeSelected: controller.loiterModeSelected
- thresholdValue: controller.loiterModeThreshold
- thresholdDragEnabled: true
-
- onModeChannelIndexSelected: controller.loiterModeChannelIndex = index
- onThresholdValueChanged: controller.loiterModeThreshold = thresholdValue
-
- Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
- }
+ ModeSwitchDisplay {
+ id: loiterMode
+ flightModeName: loiterModeName
+ flightModeDescription: controller.fixedWing ? fwLoiterModeDescription : mrLoiterModeDescription
+ rcValue: controller.loiterModeRcValue
+ modeChannelIndex: controller.loiterModeChannelIndex
+ modeChannelEnabled: true
+ modeSelected: controller.loiterModeSelected
+ thresholdValue: controller.loiterModeThreshold
+ thresholdDragEnabled: true
+
+ onModeChannelIndexSelected: controller.loiterModeChannelIndex = index
+ onThresholdValueChanged: controller.loiterModeThreshold = thresholdValue
+
+ Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
+ }
- ModeSwitchDisplay {
- id: returnMode
- flightModeName: returnModeName
- flightModeDescription: returnModeDescription
- rcValue: controller.returnModeRcValue
- modeChannelIndex: controller.returnModeChannelIndex
- modeChannelEnabled: true
- modeSelected: controller.returnModeSelected
- thresholdValue: controller.returnModeThreshold
- thresholdDragEnabled: true
-
- onModeChannelIndexSelected: controller.returnModeChannelIndex = index
- onThresholdValueChanged: controller.returnModeThreshold = thresholdValue
-
- Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
- }
+ ModeSwitchDisplay {
+ id: returnMode
+ flightModeName: returnModeName
+ flightModeDescription: returnModeDescription
+ rcValue: controller.returnModeRcValue
+ modeChannelIndex: controller.returnModeChannelIndex
+ modeChannelEnabled: true
+ modeSelected: controller.returnModeSelected
+ thresholdValue: controller.returnModeThreshold
+ thresholdDragEnabled: true
+
+ onModeChannelIndexSelected: controller.returnModeChannelIndex = index
+ onThresholdValueChanged: controller.returnModeThreshold = thresholdValue
+
+ Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
+ }
- ModeSwitchDisplay {
- id: offboardMode
- flightModeName: offboardModeName
- flightModeDescription: offboardModeDescription
- rcValue: controller.offboardModeRcValue
- modeChannelIndex: controller.offboardModeChannelIndex
- modeChannelEnabled: true
- modeSelected: controller.offboardModeSelected
- thresholdValue: controller.offboardModeThreshold
- thresholdDragEnabled: true
-
- onModeChannelIndexSelected: controller.offboardModeChannelIndex = index
- onThresholdValueChanged: controller.offboardModeThreshold = thresholdValue
-
- Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
- }
- } // Item
- } // Scroll View
- } // QGCViewPanel
-} // QGCView
+ ModeSwitchDisplay {
+ id: offboardMode
+ flightModeName: offboardModeName
+ flightModeDescription: offboardModeDescription
+ rcValue: controller.offboardModeRcValue
+ modeChannelIndex: controller.offboardModeChannelIndex
+ modeChannelEnabled: true
+ modeSelected: controller.offboardModeSelected
+ thresholdValue: controller.offboardModeThreshold
+ thresholdDragEnabled: true
+
+ onModeChannelIndexSelected: controller.offboardModeChannelIndex = index
+ onThresholdValueChanged: controller.offboardModeThreshold = thresholdValue
+
+ Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
+ }
+ } // Item
+ } // Scroll View
+} // Item
diff --git a/src/AutoPilotPlugins/PX4/FlightModesComponentController.cc b/src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.cc
similarity index 85%
rename from src/AutoPilotPlugins/PX4/FlightModesComponentController.cc
rename to src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.cc
index f38602cecd76ecbe9767b530879041d4671679e3..4eb989df71e1125ac71265185b2701c5550c6dba 100644
--- a/src/AutoPilotPlugins/PX4/FlightModesComponentController.cc
+++ b/src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.cc
@@ -24,14 +24,14 @@
/// @file
/// @author Don Gagne <don@thegagnes.com>
-#include "FlightModesComponentController.h"
+#include "PX4AdvancedFlightModesController.h"
#include "QGCMAVLink.h"
#include "AutoPilotPluginManager.h"
#include <QVariant>
#include <QQmlProperty>
-FlightModesComponentController::FlightModesComponentController(void) :
+PX4AdvancedFlightModesController::PX4AdvancedFlightModesController(void) :
_validConfiguration(false),
_channelCount(18),
_manualModeSelected(false),
@@ -55,10 +55,10 @@ FlightModesComponentController::FlightModesComponentController(void) :
_init();
_validateConfiguration();
- connect(_vehicle, &Vehicle::rcChannelsChanged, this, &FlightModesComponentController::_rcChannelsChanged);
+ connect(_vehicle, &Vehicle::rcChannelsChanged, this, &PX4AdvancedFlightModesController::_rcChannelsChanged);
}
-void FlightModesComponentController::_init(void)
+void PX4AdvancedFlightModesController::_init(void)
{
// FIXME: What about VTOL? That confuses the whole Flight Mode naming scheme
_fixedWing = _vehicle->vehicleType() == MAV_TYPE_FIXED_WING;
@@ -151,7 +151,7 @@ void FlightModesComponentController::_init(void)
/// This will look for parameter settings which would cause the config to not run correctly.
/// It will set _validConfiguration and _configurationErrors as needed.
-void FlightModesComponentController::_validateConfiguration(void)
+void PX4AdvancedFlightModesController::_validateConfiguration(void)
{
_validConfiguration = true;
@@ -205,7 +205,7 @@ void FlightModesComponentController::_validateConfiguration(void)
}
/// Connected to Vehicle::rcChannelsChanged signal
-void FlightModesComponentController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels])
+void PX4AdvancedFlightModesController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels])
{
for (int channel=0; channel<channelCount; channel++) {
int channelValue = pwmValues[channel];
@@ -232,7 +232,7 @@ void FlightModesComponentController::_rcChannelsChanged(int channelCount, int pw
emit switchLiveRangeChanged();
}
-double FlightModesComponentController::_switchLiveRange(const QString& param)
+double PX4AdvancedFlightModesController::_switchLiveRange(const QString& param)
{
QVariant value;
@@ -244,27 +244,27 @@ double FlightModesComponentController::_switchLiveRange(const QString& param)
}
}
-double FlightModesComponentController::manualModeRcValue(void)
+double PX4AdvancedFlightModesController::manualModeRcValue(void)
{
return _switchLiveRange("RC_MAP_MODE_SW");
}
-double FlightModesComponentController::assistModeRcValue(void)
+double PX4AdvancedFlightModesController::assistModeRcValue(void)
{
return manualModeRcValue();
}
-double FlightModesComponentController::autoModeRcValue(void)
+double PX4AdvancedFlightModesController::autoModeRcValue(void)
{
return manualModeRcValue();
}
-double FlightModesComponentController::acroModeRcValue(void)
+double PX4AdvancedFlightModesController::acroModeRcValue(void)
{
return _switchLiveRange("RC_MAP_ACRO_SW");
}
-double FlightModesComponentController::altCtlModeRcValue(void)
+double PX4AdvancedFlightModesController::altCtlModeRcValue(void)
{
int posCtlSwitchChannel = getParameterFact(-1, "RC_MAP_POSCTL_SW")->rawValue().toInt();
@@ -275,12 +275,12 @@ double FlightModesComponentController::altCtlModeRcValue(void)
}
}
-double FlightModesComponentController::posCtlModeRcValue(void)
+double PX4AdvancedFlightModesController::posCtlModeRcValue(void)
{
return _switchLiveRange("RC_MAP_POSCTL_SW");
}
-double FlightModesComponentController::missionModeRcValue(void)
+double PX4AdvancedFlightModesController::missionModeRcValue(void)
{
int returnSwitchChannel = getParameterFact(-1, "RC_MAP_RETURN_SW")->rawValue().toInt();
int loiterSwitchChannel = getParameterFact(-1, "RC_MAP_LOITER_SW")->rawValue().toInt();
@@ -302,22 +302,22 @@ double FlightModesComponentController::missionModeRcValue(void)
return _switchLiveRange(switchChannelParam);
}
-double FlightModesComponentController::loiterModeRcValue(void)
+double PX4AdvancedFlightModesController::loiterModeRcValue(void)
{
return _switchLiveRange("RC_MAP_LOITER_SW");
}
-double FlightModesComponentController::returnModeRcValue(void)
+double PX4AdvancedFlightModesController::returnModeRcValue(void)
{
return _switchLiveRange("RC_MAP_RETURN_SW");
}
-double FlightModesComponentController::offboardModeRcValue(void)
+double PX4AdvancedFlightModesController::offboardModeRcValue(void)
{
return _switchLiveRange("RC_MAP_OFFB_SW");
}
-void FlightModesComponentController::_recalcModeSelections(void)
+void PX4AdvancedFlightModesController::_recalcModeSelections(void)
{
_manualModeSelected = false;
_assistModeSelected = false;
@@ -377,7 +377,7 @@ void FlightModesComponentController::_recalcModeSelections(void)
emit modesSelectedChanged();
}
-void FlightModesComponentController::_recalcModeRows(void)
+void PX4AdvancedFlightModesController::_recalcModeRows(void)
{
int modeSwitchChannel = getParameterFact(-1, "RC_MAP_MODE_SW")->rawValue().toInt();
int acroSwitchChannel = getParameterFact(-1, "RC_MAP_ACRO_SW")->rawValue().toInt();
@@ -467,140 +467,140 @@ void FlightModesComponentController::_recalcModeRows(void)
emit modeRowsChanged();
}
-double FlightModesComponentController::manualModeThreshold(void)
+double PX4AdvancedFlightModesController::manualModeThreshold(void)
{
return 0.0;
}
-double FlightModesComponentController::assistModeThreshold(void)
+double PX4AdvancedFlightModesController::assistModeThreshold(void)
{
return getParameterFact(-1, "RC_ASSIST_TH")->rawValue().toDouble();
}
-double FlightModesComponentController::autoModeThreshold(void)
+double PX4AdvancedFlightModesController::autoModeThreshold(void)
{
return getParameterFact(-1, "RC_AUTO_TH")->rawValue().toDouble();
}
-double FlightModesComponentController::acroModeThreshold(void)
+double PX4AdvancedFlightModesController::acroModeThreshold(void)
{
return getParameterFact(-1, "RC_ACRO_TH")->rawValue().toDouble();
}
-double FlightModesComponentController::altCtlModeThreshold(void)
+double PX4AdvancedFlightModesController::altCtlModeThreshold(void)
{
return _assistModeVisible ? 0.0 : getParameterFact(-1, "RC_ASSIST_TH")->rawValue().toDouble();
}
-double FlightModesComponentController::posCtlModeThreshold(void)
+double PX4AdvancedFlightModesController::posCtlModeThreshold(void)
{
return getParameterFact(-1, "RC_POSCTL_TH")->rawValue().toDouble();
}
-double FlightModesComponentController::missionModeThreshold(void)
+double PX4AdvancedFlightModesController::missionModeThreshold(void)
{
return _autoModeVisible ? 0.0 : getParameterFact(-1, "RC_AUTO_TH")->rawValue().toDouble();
}
-double FlightModesComponentController::loiterModeThreshold(void)
+double PX4AdvancedFlightModesController::loiterModeThreshold(void)
{
return getParameterFact(-1, "RC_LOITER_TH")->rawValue().toDouble();
}
-double FlightModesComponentController::returnModeThreshold(void)
+double PX4AdvancedFlightModesController::returnModeThreshold(void)
{
return getParameterFact(-1, "RC_RETURN_TH")->rawValue().toDouble();
}
-double FlightModesComponentController::offboardModeThreshold(void)
+double PX4AdvancedFlightModesController::offboardModeThreshold(void)
{
return getParameterFact(-1, "RC_OFFB_TH")->rawValue().toDouble();
}
-void FlightModesComponentController::setAssistModeThreshold(double threshold)
+void PX4AdvancedFlightModesController::setAssistModeThreshold(double threshold)
{
getParameterFact(-1, "RC_ASSIST_TH")->setRawValue(threshold);
_recalcModeSelections();
}
-void FlightModesComponentController::setAutoModeThreshold(double threshold)
+void PX4AdvancedFlightModesController::setAutoModeThreshold(double threshold)
{
getParameterFact(-1, "RC_AUTO_TH")->setRawValue(threshold);
_recalcModeSelections();
}
-void FlightModesComponentController::setAcroModeThreshold(double threshold)
+void PX4AdvancedFlightModesController::setAcroModeThreshold(double threshold)
{
getParameterFact(-1, "RC_ACRO_TH")->setRawValue(threshold);
_recalcModeSelections();
}
-void FlightModesComponentController::setAltCtlModeThreshold(double threshold)
+void PX4AdvancedFlightModesController::setAltCtlModeThreshold(double threshold)
{
setAssistModeThreshold(threshold);
}
-void FlightModesComponentController::setPosCtlModeThreshold(double threshold)
+void PX4AdvancedFlightModesController::setPosCtlModeThreshold(double threshold)
{
getParameterFact(-1, "RC_POSCTL_TH")->setRawValue(threshold);
_recalcModeSelections();
}
-void FlightModesComponentController::setMissionModeThreshold(double threshold)
+void PX4AdvancedFlightModesController::setMissionModeThreshold(double threshold)
{
setAutoModeThreshold(threshold);
}
-void FlightModesComponentController::setLoiterModeThreshold(double threshold)
+void PX4AdvancedFlightModesController::setLoiterModeThreshold(double threshold)
{
getParameterFact(-1, "RC_LOITER_TH")->setRawValue(threshold);
_recalcModeSelections();
}
-void FlightModesComponentController::setReturnModeThreshold(double threshold)
+void PX4AdvancedFlightModesController::setReturnModeThreshold(double threshold)
{
getParameterFact(-1, "RC_RETURN_TH")->setRawValue(threshold);
_recalcModeSelections();
}
-void FlightModesComponentController::setOffboardModeThreshold(double threshold)
+void PX4AdvancedFlightModesController::setOffboardModeThreshold(double threshold)
{
getParameterFact(-1, "RC_OFFB_TH")->setRawValue(threshold);
_recalcModeSelections();
}
-int FlightModesComponentController::_channelToChannelIndex(int channel)
+int PX4AdvancedFlightModesController::_channelToChannelIndex(int channel)
{
return _channelListModelChannel.lastIndexOf(channel);
}
-int FlightModesComponentController::_channelToChannelIndex(const QString& channelParam)
+int PX4AdvancedFlightModesController::_channelToChannelIndex(const QString& channelParam)
{
return _channelToChannelIndex(getParameterFact(-1, channelParam)->rawValue().toInt());
}
-int FlightModesComponentController::manualModeChannelIndex(void)
+int PX4AdvancedFlightModesController::manualModeChannelIndex(void)
{
return _channelToChannelIndex("RC_MAP_MODE_SW");
}
-int FlightModesComponentController::assistModeChannelIndex(void)
+int PX4AdvancedFlightModesController::assistModeChannelIndex(void)
{
return _channelToChannelIndex("RC_MAP_MODE_SW");
}
-int FlightModesComponentController::autoModeChannelIndex(void)
+int PX4AdvancedFlightModesController::autoModeChannelIndex(void)
{
return _channelToChannelIndex("RC_MAP_MODE_SW");
}
-int FlightModesComponentController::acroModeChannelIndex(void)
+int PX4AdvancedFlightModesController::acroModeChannelIndex(void)
{
return _channelToChannelIndex("RC_MAP_ACRO_SW");
}
-int FlightModesComponentController::altCtlModeChannelIndex(void)
+int PX4AdvancedFlightModesController::altCtlModeChannelIndex(void)
{
int posCtlSwitchChannel = getParameterFact(-1, "RC_MAP_POSCTL_SW")->rawValue().toInt();
@@ -611,17 +611,17 @@ int FlightModesComponentController::altCtlModeChannelIndex(void)
}
}
-int FlightModesComponentController::posCtlModeChannelIndex(void)
+int PX4AdvancedFlightModesController::posCtlModeChannelIndex(void)
{
return _channelToChannelIndex("RC_MAP_POSCTL_SW");
}
-int FlightModesComponentController::loiterModeChannelIndex(void)
+int PX4AdvancedFlightModesController::loiterModeChannelIndex(void)
{
return _channelToChannelIndex("RC_MAP_LOITER_SW");
}
-int FlightModesComponentController::missionModeChannelIndex(void)
+int PX4AdvancedFlightModesController::missionModeChannelIndex(void)
{
int loiterSwitchChannel = getParameterFact(-1, "RC_MAP_LOITER_SW")->rawValue().toInt();
@@ -632,22 +632,22 @@ int FlightModesComponentController::missionModeChannelIndex(void)
}
}
-int FlightModesComponentController::returnModeChannelIndex(void)
+int PX4AdvancedFlightModesController::returnModeChannelIndex(void)
{
return _channelToChannelIndex("RC_MAP_RETURN_SW");
}
-int FlightModesComponentController::offboardModeChannelIndex(void)
+int PX4AdvancedFlightModesController::offboardModeChannelIndex(void)
{
return _channelToChannelIndex("RC_MAP_OFFB_SW");
}
-int FlightModesComponentController::_channelIndexToChannel(int index)
+int PX4AdvancedFlightModesController::_channelIndexToChannel(int index)
{
return _channelListModelChannel[index];
}
-void FlightModesComponentController::setManualModeChannelIndex(int index)
+void PX4AdvancedFlightModesController::setManualModeChannelIndex(int index)
{
getParameterFact(-1, "RC_MAP_MODE_SW")->setRawValue(_channelIndexToChannel(index));
@@ -657,7 +657,7 @@ void FlightModesComponentController::setManualModeChannelIndex(int index)
}
-void FlightModesComponentController::setAcroModeChannelIndex(int index)
+void PX4AdvancedFlightModesController::setAcroModeChannelIndex(int index)
{
getParameterFact(-1, "RC_MAP_ACRO_SW")->setRawValue(_channelIndexToChannel(index));
@@ -665,7 +665,7 @@ void FlightModesComponentController::setAcroModeChannelIndex(int index)
_recalcModeRows();
}
-void FlightModesComponentController::setPosCtlModeChannelIndex(int index)
+void PX4AdvancedFlightModesController::setPosCtlModeChannelIndex(int index)
{
int channel = _channelIndexToChannel(index);
@@ -687,7 +687,7 @@ void FlightModesComponentController::setPosCtlModeChannelIndex(int index)
}
-void FlightModesComponentController::setLoiterModeChannelIndex(int index)
+void PX4AdvancedFlightModesController::setLoiterModeChannelIndex(int index)
{
int channel = _channelIndexToChannel(index);
@@ -709,7 +709,7 @@ void FlightModesComponentController::setLoiterModeChannelIndex(int index)
}
-void FlightModesComponentController::setReturnModeChannelIndex(int index)
+void PX4AdvancedFlightModesController::setReturnModeChannelIndex(int index)
{
getParameterFact(-1, "RC_MAP_RETURN_SW")->setRawValue(_channelIndexToChannel(index));
_recalcModeSelections();
@@ -718,7 +718,7 @@ void FlightModesComponentController::setReturnModeChannelIndex(int index)
}
-void FlightModesComponentController::setOffboardModeChannelIndex(int index)
+void PX4AdvancedFlightModesController::setOffboardModeChannelIndex(int index)
{
getParameterFact(-1, "RC_MAP_OFFB_SW")->setRawValue(_channelIndexToChannel(index));
_recalcModeSelections();
@@ -727,7 +727,7 @@ void FlightModesComponentController::setOffboardModeChannelIndex(int index)
}
-void FlightModesComponentController::generateThresholds(void)
+void PX4AdvancedFlightModesController::generateThresholds(void)
{
// Reset all thresholds to 0.0
diff --git a/src/AutoPilotPlugins/PX4/FlightModesComponentController.h b/src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.h
similarity index 98%
rename from src/AutoPilotPlugins/PX4/FlightModesComponentController.h
rename to src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.h
index 9070de31c9d045e19d2e5a64d05505d2377f2506..e4c990c1663a4a106756137219efe27e39f53fcc 100644
--- a/src/AutoPilotPlugins/PX4/FlightModesComponentController.h
+++ b/src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.h
@@ -24,8 +24,8 @@
/// @file
/// @author Don Gagne <don@thegagnes.com>
-#ifndef FLIGHTMODESCOMPONENTCONTROLLER_H
-#define FLIGHTMODESCOMPONENTCONTROLLER_H
+#ifndef PX4AdvancedFlightModesController_H
+#define PX4AdvancedFlightModesController_H
#include <QObject>
#include <QQuickItem>
@@ -37,12 +37,12 @@
#include "FactPanelController.h"
/// MVC Controller for FlightModesComponent.qml.
-class FlightModesComponentController : public FactPanelController
+class PX4AdvancedFlightModesController : public FactPanelController
{
Q_OBJECT
public:
- FlightModesComponentController(void);
+ PX4AdvancedFlightModesController(void);
Q_PROPERTY(bool validConfiguration MEMBER _validConfiguration CONSTANT)
Q_PROPERTY(QString configurationErrors MEMBER _configurationErrors CONSTANT)
diff --git a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
index 15f3ab58aed6ac52b878db556e155224ebeadaf4..bff3721baab7fa7c2b0fa46b1b4ef10ea5085dd0 100644
--- a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
+++ b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
@@ -24,7 +24,7 @@
#include "PX4AutoPilotPlugin.h"
#include "AutoPilotPluginManager.h"
#include "PX4AirframeLoader.h"
-#include "FlightModesComponentController.h"
+#include "PX4AdvancedFlightModesController.h"
#include "AirframeComponentController.h"
#include "UAS.h"
#include "FirmwarePlugin/PX4/PX4ParameterMetaData.h" // FIXME: Hack
diff --git a/src/AutoPilotPlugins/PX4/PX4FlightModes.qml b/src/AutoPilotPlugins/PX4/PX4FlightModes.qml
new file mode 100644
index 0000000000000000000000000000000000000000..1ef817ddd1ac1a218448125ab19307ae5e01e979
--- /dev/null
+++ b/src/AutoPilotPlugins/PX4/PX4FlightModes.qml
@@ -0,0 +1,67 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+import QtQuick 2.2
+import QtQuick.Controls 1.2
+import QtQuick.Controls.Styles 1.2
+import QtQuick.Dialogs 1.2
+import QtQuick.Layouts 1.1
+
+import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
+import QGroundControl.Palette 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.Controllers 1.0
+import QGroundControl.ScreenTools 1.0
+
+/// PX4 Flight Mode configuration. This control will load either the Simple or Advanced Flight Mode config
+/// based on current parameter settings.
+QGCView {
+ id: rootQGCView
+ viewPanel: panel
+
+ property Fact _nullFact
+ property Fact _rcMapFltmode: controller.parameterExists(-1, "RC_MAP_FLTMODE") ? controller.getParameterFact(-1, "RC_MAP_FLTMODE") : _nullFact
+ property Fact _rcMapModeSw: controller.getParameterFact(-1, "RC_MAP_MODE_SW")
+ property bool _simpleMode: _rcMapFltmode.value > 0 || _rcMapModeSw.value == 0
+
+ QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
+
+ FactPanelController {
+ id: controller
+ factPanel: panel
+ }
+
+ QGCViewPanel {
+ id: panel
+ anchors.fill: parent
+
+ Loader {
+ anchors.fill: parent
+ source: _simpleMode ? "qrc:/qml/PX4SimpleFlightModes.qml" : "qrc:/qml/PX4AdvancedFlightModes.qml"
+
+ property var qgcView: rootQGCView
+ property var qgcViewPanel: panel
+ }
+ } // QGCViewPanel
+} // QGCView
diff --git a/src/AutoPilotPlugins/PX4/PX4SimpleFlightModes.qml b/src/AutoPilotPlugins/PX4/PX4SimpleFlightModes.qml
new file mode 100644
index 0000000000000000000000000000000000000000..45df988299cd53a9aa26a9ec1bffb4f9cda3f28f
--- /dev/null
+++ b/src/AutoPilotPlugins/PX4/PX4SimpleFlightModes.qml
@@ -0,0 +1,140 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+import QtQuick 2.5
+import QtQuick.Controls 1.2
+
+import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
+import QGroundControl.Palette 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.Controllers 1.0
+import QGroundControl.ScreenTools 1.0
+
+Item {
+ id: root
+
+ // The following properties must be pushed in from the Loader
+ //property var qgcView - QGCView control
+ //property var qgcViewPanel - QGCViewPanel control
+
+ property real _margins: ScreenTools.defaultFontPixelHeight / 2
+
+ QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
+
+ PX4SimpleFlightModesController {
+ id: controller
+ factPanel: qgcViewPanel
+ }
+
+ QGCFlickable {
+ anchors.fill: parent
+ clip: true
+ contentWidth: contentColumn.width
+ contentHeight: contentColumn.height
+
+ Column {
+ id: contentColumn
+ spacing: _margins
+
+ QGCLabel {
+ id: flightModeLabel
+ text: "Flight Mode Settings"
+ font.weight: Font.DemiBold
+ }
+
+ Item {
+ height: modeChannelCombo.height
+ width: modeChannelCombo.x + modeChannelCombo.width
+
+ QGCLabel {
+ id: modeChannelLabel
+ anchors.baseline: modeChannelCombo.baseline
+ text: "Flight mode channel:"
+ }
+
+ FactComboBox {
+ id: modeChannelCombo
+ anchors.leftMargin: _margins
+ anchors.left: modeChannelLabel.right
+ width: ScreenTools.defaultFontPixelWidth * 15
+ fact: controller.getParameterFact(-1, "RC_MAP_FLTMODE")
+ indexModel: false
+ }
+ }
+
+ Rectangle {
+ id: flightModeSettings
+ width: flightModeColumn.width + (_margins * 2)
+ height: flightModeColumn.height + ScreenTools.defaultFontPixelHeight
+ color: qgcPal.windowShade
+
+ Column {
+ id: flightModeColumn
+ anchors.margins: ScreenTools.defaultFontPixelWidth
+ anchors.left: parent.left
+ anchors.top: parent.top
+ spacing: ScreenTools.defaultFontPixelHeight
+
+ Repeater {
+ model: 6
+
+ Row {
+ spacing: ScreenTools.defaultFontPixelWidth
+
+ property int index: modelData + 1
+ property var pwmStrings: [ "PWM 0 - 1230", "PWM 1231 - 1360", "PWM 1361 - 1490", "PWM 1491 - 1620", "PWM 1621 - 1749", "PWM 1750 +"]
+
+
+ QGCLabel {
+ anchors.baseline: modeCombo.baseline
+ text: "Flight Mode " + index + ":"
+ color: controller.activeFlightMode == index ? "yellow" : qgcPal.text
+ }
+
+ FactComboBox {
+ id: modeCombo
+ width: ScreenTools.defaultFontPixelWidth * 20
+ fact: controller.getParameterFact(-1, "COM_FLTMODE" + index)
+ indexModel: false
+ }
+
+ QGCLabel {
+ anchors.baseline: modeCombo.baseline
+ text: pwmStrings[modelData]
+ }
+ }
+ } // Repeater - Flight Modes
+ } // Column - Flight Modes
+ } // Rectangle - Flight Modes
+
+ QGCButton {
+ text: "Use Advanced Flight Modes"
+ onClicked: {
+ controller.getParameterFact(-1, "RC_MAP_MODE_SW").value = 5
+ controller.getParameterFact(-1, "RC_MAP_FLTMODE").value = 0
+ }
+ }
+ } // Column
+ } // QGCFlickable
+} // QGCView
diff --git a/src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.cc b/src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.cc
new file mode 100644
index 0000000000000000000000000000000000000000..ffc4ee6e598d624d7734ff285be0b1ed841a4ab0
--- /dev/null
+++ b/src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.cc
@@ -0,0 +1,73 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+#include "PX4SimpleFlightModesController.h"
+#include "QGCMAVLink.h"
+#include "AutoPilotPluginManager.h"
+
+#include <QVariant>
+#include <QQmlProperty>
+
+PX4SimpleFlightModesController::PX4SimpleFlightModesController(void)
+ : _activeFlightMode(0)
+ , _channelCount(Vehicle::cMaxRcChannels)
+
+{
+ QStringList usedParams;
+ usedParams << QStringLiteral("COM_FLTMODE1") << QStringLiteral("COM_FLTMODE2") << QStringLiteral("COM_FLTMODE3")
+ << QStringLiteral("COM_FLTMODE4") << QStringLiteral("COM_FLTMODE5") << QStringLiteral("COM_FLTMODE6")
+ << QStringLiteral("RC_MAP_FLTMODE");
+ if (!_allParametersExists(FactSystem::defaultComponentId, usedParams)) {
+ return;
+ }
+
+ connect(_vehicle, &Vehicle::rcChannelsChanged, this, &PX4SimpleFlightModesController::_rcChannelsChanged);
+}
+
+/// Connected to Vehicle::rcChannelsChanged signal
+void PX4SimpleFlightModesController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels])
+{
+ int flightModeChannel = getParameterFact(-1, "RC_MAP_FLTMODE")->rawValue().toInt() - 1;
+
+ if (flightModeChannel < 0 || flightModeChannel > channelCount) {
+ return;
+ }
+
+ _activeFlightMode = 0;
+ int channelValue = pwmValues[flightModeChannel];
+ if (channelValue != -1) {
+ bool found = false;
+ int rgThreshold[] = { 1230, 1360, 1490, 1620, 1749 };
+ for (int i=0; i<5; i++) {
+ if (channelValue <= rgThreshold[i]) {
+ _activeFlightMode = i + 1;
+ found = true;
+ break;
+ }
+ }
+ if (!found) {
+ _activeFlightMode = 6;
+ }
+ }
+ emit activeFlightModeChanged(_activeFlightMode);
+}
diff --git a/src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.h b/src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.h
new file mode 100644
index 0000000000000000000000000000000000000000..1a5c8ed49e9d343ef9159df682242688227398d3
--- /dev/null
+++ b/src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.h
@@ -0,0 +1,62 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+#ifndef PX4SimpleFlightModesController_H
+#define PX4SimpleFlightModesController_H
+
+#include <QObject>
+#include <QQuickItem>
+#include <QList>
+#include <QStringList>
+
+#include "UASInterface.h"
+#include "AutoPilotPlugin.h"
+#include "FactPanelController.h"
+#include "Vehicle.h"
+
+/// MVC Controller for PX4SimpleFlightModes.qml
+class PX4SimpleFlightModesController : public FactPanelController
+{
+ Q_OBJECT
+
+public:
+ PX4SimpleFlightModesController(void);
+
+ Q_PROPERTY(int activeFlightMode READ activeFlightMode NOTIFY activeFlightModeChanged)
+ Q_PROPERTY(int channelCount MEMBER _channelCount CONSTANT)
+
+ int activeFlightMode(void) const { return _activeFlightMode; }
+
+signals:
+ void activeFlightModeChanged(int activeFlightMode);
+ void channelOptionEnabledChanged(void);
+
+private slots:
+ void _rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels]);
+
+private:
+ int _activeFlightMode;
+ int _channelCount;
+};
+
+#endif
diff --git a/src/FactSystem/ParameterLoader.cc b/src/FactSystem/ParameterLoader.cc
index 5ac6e522a04c9734d8578ceb62eaef5fd6ed8210..87f90a0d3d701846d2758df1e2d3e10829c3668d 100644
--- a/src/FactSystem/ParameterLoader.cc
+++ b/src/FactSystem/ParameterLoader.cc
@@ -44,7 +44,7 @@ QGC_LOGGING_CATEGORY(ParameterLoaderVerboseLog, "ParameterLoaderVerboseLog")
Fact ParameterLoader::_defaultFact;
-const char* ParameterLoader::_cachedMetaDataFilePrefix = "ParamaterFactMetaData";
+const char* ParameterLoader::_cachedMetaDataFilePrefix = "ParameterFactMetaData";
ParameterLoader::ParameterLoader(Vehicle* vehicle)
: QObject(vehicle)
diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 28225ce59e5a3b65852722169b13a55d473c6ca9..88d3d61b171b652a0788ac15316acbd70d7d81df 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -2,8 +2,7 @@
<parameters>
<version>3</version>
<parameter_version_major>1</parameter_version_major>
- <parameter_version_minor>1</parameter_version_minor>
- <group name="UAVCAN Motor Parameters" no_code_generation="true">
+ <parameter_version_minor>1</parameter_version_minor> <group name="UAVCAN Motor Parameters" no_code_generation="true">
<parameter default="75" name="ctl_bw" type="INT32">
<short_desc>Speed controller bandwidth</short_desc>
<long_desc>Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.</long_desc>
@@ -3583,6 +3582,33 @@ replay messages for logging</short_desc>
</parameter>
</group>
<group name="Radio Switches">
+ <parameter default="0" name="RC_MAP_FLTMODE" type="INT32">
+ <short_desc>Single channel flight mode selection</short_desc>
+ <long_desc>If this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots.</long_desc>
+ <min>0</min>
+ <max>18</max>
+ <values>
+ <value code="11">RC Channel 11</value>
+ <value code="10">RC Channel 10</value>
+ <value code="13">RC Channel 13</value>
+ <value code="12">RC Channel 12</value>
+ <value code="15">RC Channel 15</value>
+ <value code="14">RC Channel 14</value>
+ <value code="17">RC Channel 17</value>
+ <value code="16">RC Channel 16</value>
+ <value code="18">RC Channel 18</value>
+ <value code="1">RC Channel 1</value>
+ <value code="0">Unassigned</value>
+ <value code="3">RC Channel 3</value>
+ <value code="2">RC Channel 2</value>
+ <value code="5">RC Channel 5</value>
+ <value code="4">RC Channel 4</value>
+ <value code="7">RC Channel 7</value>
+ <value code="6">RC Channel 6</value>
+ <value code="9">RC Channel 9</value>
+ <value code="8">RC Channel 8</value>
+ </values>
+ </parameter>
<parameter default="0" name="RC_MAP_MODE_SW" type="INT32">
<short_desc>Mode switch channel mapping</short_desc>
<long_desc>This is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned.</long_desc>
@@ -4775,121 +4801,118 @@ Maps the change of airspeed error to the acceleration setpoint</short_desc>
<parameter default="0.1" name="RV_YAW_P" type="FLOAT">
<short_desc>RV_YAW_P</short_desc>
</parameter>
- <parameter default="0" name="COM_FLTMODE_CH" type="INT32">
- <short_desc>COM_FLTMODE_CH</short_desc>
- </parameter>
- <parameter default="0" name="COM_FLTMODE1" type="INT32">
+ <parameter default="-1" name="COM_FLTMODE1" type="INT32">
<short_desc>First flightmode slot (1000-1160)</short_desc>
<long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
<values>
- <value code="11">AUTO / TAKEOFF</value>
- <value code="10">RATTITUDE</value>
- <value code="12">AUTO / LAND</value>
- <value code="1">MANUAL</value>
- <value code="0">Unassigned</value>
- <value code="3">POSITION CONTROL</value>
- <value code="2">ALTITUDE CONTROL</value>
- <value code="5">AUTO / PAUSE</value>
- <value code="4">AUTO / MISSION</value>
- <value code="7">ACRO</value>
- <value code="6">RETURN TO LAUNCH</value>
- <value code="9">STABILIZED</value>
- <value code="8">OFFBOARD</value>
+ <value code="11">AUTO / LAND</value>
+ <value code="10">AUTO / TAKEOFF</value>
+ <value code="1">ALTITUDE CONTROL</value>
+ <value code="0">MANUAL</value>
+ <value code="3">AUTO / MISSION</value>
+ <value code="2">POSITION CONTROL</value>
+ <value code="-1">Unassigned</value>
+ <value code="4">AUTO / PAUSE</value>
+ <value code="7">OFFBOARD</value>
+ <value code="6">ACRO</value>
+ <value code="9">RATTITUDE</value>
+ <value code="5">RETURN TO LAUNCH</value>
+ <value code="8">STABILIZED</value>
</values>
</parameter>
- <parameter default="0" name="COM_FLTMODE2" type="INT32">
+ <parameter default="-1" name="COM_FLTMODE2" type="INT32">
<short_desc>Second flightmode slot (1160-1320)</short_desc>
<long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
<values>
- <value code="11">AUTO / TAKEOFF</value>
- <value code="10">RATTITUDE</value>
- <value code="12">AUTO / LAND</value>
- <value code="1">MANUAL</value>
- <value code="0">Unassigned</value>
- <value code="3">POSITION CONTROL</value>
- <value code="2">ALTITUDE CONTROL</value>
- <value code="5">AUTO / PAUSE</value>
- <value code="4">AUTO / MISSION</value>
- <value code="7">ACRO</value>
- <value code="6">RETURN TO LAUNCH</value>
- <value code="9">STABILIZED</value>
- <value code="8">OFFBOARD</value>
+ <value code="11">AUTO / LAND</value>
+ <value code="10">AUTO / TAKEOFF</value>
+ <value code="1">ALTITUDE CONTROL</value>
+ <value code="0">MANUAL</value>
+ <value code="3">AUTO / MISSION</value>
+ <value code="2">POSITION CONTROL</value>
+ <value code="-1">Unassigned</value>
+ <value code="4">AUTO / PAUSE</value>
+ <value code="7">OFFBOARD</value>
+ <value code="6">ACRO</value>
+ <value code="9">RATTITUDE</value>
+ <value code="5">RETURN TO LAUNCH</value>
+ <value code="8">STABILIZED</value>
</values>
</parameter>
- <parameter default="0" name="COM_FLTMODE3" type="INT32">
+ <parameter default="-1" name="COM_FLTMODE3" type="INT32">
<short_desc>Third flightmode slot (1320-1480)</short_desc>
<long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
<values>
- <value code="11">AUTO / TAKEOFF</value>
- <value code="10">RATTITUDE</value>
- <value code="12">AUTO / LAND</value>
- <value code="1">MANUAL</value>
- <value code="0">Unassigned</value>
- <value code="3">POSITION CONTROL</value>
- <value code="2">ALTITUDE CONTROL</value>
- <value code="5">AUTO / PAUSE</value>
- <value code="4">AUTO / MISSION</value>
- <value code="7">ACRO</value>
- <value code="6">RETURN TO LAUNCH</value>
- <value code="9">STABILIZED</value>
- <value code="8">OFFBOARD</value>
+ <value code="11">AUTO / LAND</value>
+ <value code="10">AUTO / TAKEOFF</value>
+ <value code="1">ALTITUDE CONTROL</value>
+ <value code="0">MANUAL</value>
+ <value code="3">AUTO / MISSION</value>
+ <value code="2">POSITION CONTROL</value>
+ <value code="-1">Unassigned</value>
+ <value code="4">AUTO / PAUSE</value>
+ <value code="7">OFFBOARD</value>
+ <value code="6">ACRO</value>
+ <value code="9">RATTITUDE</value>
+ <value code="5">RETURN TO LAUNCH</value>
+ <value code="8">STABILIZED</value>
</values>
</parameter>
- <parameter default="0" name="COM_FLTMODE4" type="INT32">
+ <parameter default="-1" name="COM_FLTMODE4" type="INT32">
<short_desc>Fourth flightmode slot (1480-1640)</short_desc>
<long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
<values>
- <value code="11">AUTO / TAKEOFF</value>
- <value code="10">RATTITUDE</value>
- <value code="12">AUTO / LAND</value>
- <value code="1">MANUAL</value>
- <value code="0">Unassigned</value>
- <value code="3">POSITION CONTROL</value>
- <value code="2">ALTITUDE CONTROL</value>
- <value code="5">AUTO / PAUSE</value>
- <value code="4">AUTO / MISSION</value>
- <value code="7">ACRO</value>
- <value code="6">RETURN TO LAUNCH</value>
- <value code="9">STABILIZED</value>
- <value code="8">OFFBOARD</value>
+ <value code="11">AUTO / LAND</value>
+ <value code="10">AUTO / TAKEOFF</value>
+ <value code="1">ALTITUDE CONTROL</value>
+ <value code="0">MANUAL</value>
+ <value code="3">AUTO / MISSION</value>
+ <value code="2">POSITION CONTROL</value>
+ <value code="-1">Unassigned</value>
+ <value code="4">AUTO / PAUSE</value>
+ <value code="7">OFFBOARD</value>
+ <value code="6">ACRO</value>
+ <value code="9">RATTITUDE</value>
+ <value code="5">RETURN TO LAUNCH</value>
+ <value code="8">STABILIZED</value>
</values>
</parameter>
- <parameter default="0" name="COM_FLTMODE5" type="INT32">
+ <parameter default="-1" name="COM_FLTMODE5" type="INT32">
<short_desc>Fift flightmode slot (1640-1800)</short_desc>
<long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
<values>
- <value code="11">AUTO / TAKEOFF</value>
- <value code="10">RATTITUDE</value>
- <value code="12">AUTO / LAND</value>
- <value code="1">MANUAL</value>
- <value code="0">Unassigned</value>
- <value code="3">POSITION CONTROL</value>
- <value code="2">ALTITUDE CONTROL</value>
- <value code="5">AUTO / PAUSE</value>
- <value code="4">AUTO / MISSION</value>
- <value code="7">ACRO</value>
- <value code="6">RETURN TO LAUNCH</value>
- <value code="9">STABILIZED</value>
- <value code="8">OFFBOARD</value>
+ <value code="11">AUTO / LAND</value>
+ <value code="10">AUTO / TAKEOFF</value>
+ <value code="1">ALTITUDE CONTROL</value>
+ <value code="0">MANUAL</value>
+ <value code="3">AUTO / MISSION</value>
+ <value code="2">POSITION CONTROL</value>
+ <value code="-1">Unassigned</value>
+ <value code="4">AUTO / PAUSE</value>
+ <value code="7">OFFBOARD</value>
+ <value code="6">ACRO</value>
+ <value code="9">RATTITUDE</value>
+ <value code="5">RETURN TO LAUNCH</value>
+ <value code="8">STABILIZED</value>
</values>
</parameter>
- <parameter default="0" name="COM_FLTMODE6" type="INT32">
+ <parameter default="-1" name="COM_FLTMODE6" type="INT32">
<short_desc>Sixt flightmode slot (1800-2000)</short_desc>
<long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
<values>
- <value code="11">AUTO / TAKEOFF</value>
- <value code="10">RATTITUDE</value>
- <value code="12">AUTO / LAND</value>
- <value code="1">MANUAL</value>
- <value code="0">Unassigned</value>
- <value code="3">POSITION CONTROL</value>
- <value code="2">ALTITUDE CONTROL</value>
- <value code="5">AUTO / PAUSE</value>
- <value code="4">AUTO / MISSION</value>
- <value code="7">ACRO</value>
- <value code="6">RETURN TO LAUNCH</value>
- <value code="9">STABILIZED</value>
- <value code="8">OFFBOARD</value>
+ <value code="11">AUTO / LAND</value>
+ <value code="10">AUTO / TAKEOFF</value>
+ <value code="1">ALTITUDE CONTROL</value>
+ <value code="0">MANUAL</value>
+ <value code="3">AUTO / MISSION</value>
+ <value code="2">POSITION CONTROL</value>
+ <value code="-1">Unassigned</value>
+ <value code="4">AUTO / PAUSE</value>
+ <value code="7">OFFBOARD</value>
+ <value code="6">ACRO</value>
+ <value code="9">RATTITUDE</value>
+ <value code="5">RETURN TO LAUNCH</value>
+ <value code="8">STABILIZED</value>
</values>
</parameter>
<parameter default="-1.0" name="TEST_MIN" type="FLOAT">
diff --git a/src/QGCApplication.cc b/src/QGCApplication.cc
index a79e10def9cf7f40d8d12da59531e37ab0db5078..42816fbe3cb6ffcbb2910730ac0d6d297664ee41 100644
--- a/src/QGCApplication.cc
+++ b/src/QGCApplication.cc
@@ -61,7 +61,8 @@
#include "ViewWidgetController.h"
#include "ParameterEditorController.h"
#include "CustomCommandWidgetController.h"
-#include "FlightModesComponentController.h"
+#include "PX4AdvancedFlightModesController.h"
+#include "PX4SimpleFlightModesController.h"
#include "APMFlightModesComponentController.h"
#include "AirframeComponentController.h"
#include "SensorsComponentController.h"
@@ -434,7 +435,8 @@ void QGCApplication::_initCommon(void)
qmlRegisterType<ParameterEditorController> ("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
qmlRegisterType<APMFlightModesComponentController> ("QGroundControl.Controllers", 1, 0, "APMFlightModesComponentController");
- qmlRegisterType<FlightModesComponentController> ("QGroundControl.Controllers", 1, 0, "FlightModesComponentController");
+ qmlRegisterType<PX4AdvancedFlightModesController> ("QGroundControl.Controllers", 1, 0, "PX4AdvancedFlightModesController");
+ qmlRegisterType<PX4SimpleFlightModesController> ("QGroundControl.Controllers", 1, 0, "PX4SimpleFlightModesController");
qmlRegisterType<APMAirframeComponentController> ("QGroundControl.Controllers", 1, 0, "APMAirframeComponentController");
qmlRegisterType<AirframeComponentController> ("QGroundControl.Controllers", 1, 0, "AirframeComponentController");
qmlRegisterType<APMSensorsComponentController> ("QGroundControl.Controllers", 1, 0, "APMSensorsComponentController");
diff --git a/src/VehicleSetup/VehicleComponent.cc b/src/VehicleSetup/VehicleComponent.cc
index de7a4835aa4405ed9687283b343b80e5d3b69af6..4331692637d63403f5db4c5cfc8bee5bd3689c8b 100644
--- a/src/VehicleSetup/VehicleComponent.cc
+++ b/src/VehicleSetup/VehicleComponent.cc
@@ -62,8 +62,10 @@ void VehicleComponent::setupTriggerSignals(void)
{
// Watch for changed on trigger list params
foreach (const QString ¶mName, setupCompleteChangedTriggerList()) {
- Fact* fact = _autopilot->getParameterFact(FactSystem::defaultComponentId, paramName);
- connect(fact, &Fact::valueChanged, this, &VehicleComponent::_triggerUpdated);
+ if (_autopilot->parameterExists(FactSystem::defaultComponentId, paramName)) {
+ Fact* fact = _autopilot->getParameterFact(FactSystem::defaultComponentId, paramName);
+ connect(fact, &Fact::valueChanged, this, &VehicleComponent::_triggerUpdated);
+ }
}
}