From fb3610d4bf1be148b472d3a3a1a978d80f293f96 Mon Sep 17 00:00:00 2001
From: Pritam Ghanghas <pritam.ghanghas@gmail.com>
Date: Wed, 16 Sep 2015 04:08:29 +0530
Subject: [PATCH] Added support for flashing beta and developer versions of APM
stack
---
src/VehicleSetup/FirmwareUpgrade.qml | 150 +++---
src/VehicleSetup/FirmwareUpgradeController.cc | 448 +++++++++++++++---
src/VehicleSetup/FirmwareUpgradeController.h | 94 ++--
3 files changed, 527 insertions(+), 165 deletions(-)
diff --git a/src/VehicleSetup/FirmwareUpgrade.qml b/src/VehicleSetup/FirmwareUpgrade.qml
index 2d2fd779bc..4cf2f597f7 100644
--- a/src/VehicleSetup/FirmwareUpgrade.qml
+++ b/src/VehicleSetup/FirmwareUpgrade.qml
@@ -139,12 +139,18 @@ QGCView {
QGCViewDialog {
anchors.fill: parent
- property bool showVersionSelection: apmFlightStack.checked || advancedMode.checked
+ property bool showFirmwareTypeSelection: apmFlightStack.checked || advancedMode.checked
property bool px4Flow: controller.boardType == "PX4 Flow"
function accept() {
hideDialog()
- controller.flash(firmwareVersionCombo.model.get(firmwareVersionCombo.currentIndex).firmwareType)
+ var stack = apmFlightStack.checked ? FirmwareUpgradeController.AutoPilotStackAPM : FirmwareUpgradeController.AutoPilotStackPX4
+ var firmwareType = firmwareVersionCombo.model.get(firmwareVersionCombo.currentIndex).firmwareType
+ var vehicleType = FirmwareUpgradeController.DefaultVehicleFirmware
+ if (apmFlightStack.checked) {
+ vehicleType = vehicleTypeSelectionCombo.model.get(vehicleTypeSelectionCombo.currentIndex).vehicleType
+ }
+ controller.flash(stack, firmwareType, vehicleType)
}
function reject() {
@@ -157,64 +163,68 @@ QGCView {
}
ListModel {
- id: px4FirmwareTypeList
+ id: firmwareTypeList
ListElement {
text: "Standard Version (stable)";
- firmwareType: FirmwareUpgradeController.PX4StableFirmware
+ firmwareType: FirmwareUpgradeController.StableFirmware
}
ListElement {
text: "Beta Testing (beta)";
- firmwareType: FirmwareUpgradeController.PX4BetaFirmware
+ firmwareType: FirmwareUpgradeController.BetaFirmware
}
ListElement {
text: "Developer Build (master)";
- firmwareType: FirmwareUpgradeController.PX4DeveloperFirmware
+ firmwareType: FirmwareUpgradeController.DeveloperFirmware
}
ListElement {
text: "Custom firmware file...";
- firmwareType: FirmwareUpgradeController.PX4CustomFirmware
+ firmwareType: FirmwareUpgradeController.CustomFirmware
}
}
ListModel {
- id: apmFirmwareTypeList
+ id: vehicleTypeList
ListElement {
- text: "ArduCopter Quad"
- firmwareType: FirmwareUpgradeController.ApmArduCopterQuadFirmware
+ text: "Default (Quad)"
+ vehicleType: FirmwareUpgradeController.DefaultVehicleFirmware
+ }
+ ListElement {
+ text: "Quad"
+ vehicleType: FirmwareUpgradeController.QuadFirmware
}
ListElement {
- text: "ArduCopter X8"
- firmwareType: FirmwareUpgradeController.ApmArduCopterX8Firmware
+ text: "X8"
+ vehicleType: FirmwareUpgradeController.X8Firmware
}
ListElement {
- text: "ArduCopter Hexa"
- firmwareType: FirmwareUpgradeController.ApmArduCopterHexaFirmware
+ text: "Hexa"
+ vehicleType: FirmwareUpgradeController.HexaFirmware
}
ListElement {
- text: "ArduCopter Octo"
- firmwareType: FirmwareUpgradeController.ApmArduCopterOctoFirmware
+ text: "Octo"
+ vehicleType: FirmwareUpgradeController.OctoFirmware
}
ListElement {
- text: "ArduCopter Y"
- firmwareType: FirmwareUpgradeController.ApmArduCopterYFirmware
+ text: "Y"
+ vehicleType: FirmwareUpgradeController.YFirmware
}
ListElement {
- text: "ArduCopter Y6"
- firmwareType: FirmwareUpgradeController.ApmArduCopterY6Firmware
+ text: "Y6"
+ vehicleType: FirmwareUpgradeController.Y6Firmware
}
ListElement {
- text: "ArduCopter Heli"
- firmwareType: FirmwareUpgradeController.ApmArduCopterHeliFirmware
+ text: "Heli"
+ vehicleType: FirmwareUpgradeController.HeliFirmware
}
ListElement {
- text: "ArduPlane"
- firmwareType: FirmwareUpgradeController.ApmArduPlaneFirmware
+ text: "Plane"
+ vehicleType: FirmwareUpgradeController.PlaneFirmware
}
ListElement {
text: "Rover"
- firmwareType: FirmwareUpgradeController.ApmRoverFirmware
+ vehicleType: FirmwareUpgradeController.RoverFirmware
}
}
@@ -223,11 +233,11 @@ QGCView {
ListElement {
text: "Standard Version (stable)";
- firmwareType: FirmwareUpgradeController.PX4StableFirmware
+ firmwareType: FirmwareUpgradeController.StableFirmware
}
ListElement {
text: "Custom firmware file...";
- firmwareType: FirmwareUpgradeController.PX4CustomFirmware
+ firmwareType: FirmwareUpgradeController.CustomFirmware
}
}
@@ -252,6 +262,17 @@ QGCView {
firmwareVersionCombo.currentIndex = 0
}
+ function vehicleTypeChanged(model) {
+ vehicleTypeSelectionCombo.model = null
+ // All of this bizarre, setting model to null and index to 1 and then to 0 is to work around
+ // strangeness in the combo box implementation. This sequence of steps correctly changes the combo model
+ // without generating any warnings and correctly updates the combo text with the new selection.
+ vehicleTypeSelectionCombo.model = null
+ vehicleTypeSelectionCombo.model = model
+ vehicleTypeSelectionCombo.currentIndex = 1
+ vehicleTypeSelectionCombo.currentIndex = 0
+ }
+
QGCRadioButton {
id: px4FlightStack
checked: true
@@ -259,7 +280,7 @@ QGCView {
text: "PX4 Flight Stack (full QGC support)"
visible: !px4Flow
- onClicked: parent.firmwareVersionChanged(px4FirmwareTypeList)
+ onClicked: parent.firmwareVersionChanged(firmwareTypeList)
}
QGCRadioButton {
@@ -268,42 +289,55 @@ QGCView {
text: "APM Flight Stack (partial QGC support)"
visible: !px4Flow
- onClicked: parent.firmwareVersionChanged(apmFirmwareTypeList)
+ onClicked: {
+ parent.firmwareVersionChanged(firmwareTypeList)
+ parent.vehicleTypeChanged(vehicleTypeList)
+ }
}
-
+
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
- visible: showVersionSelection
+ visible: showFirmwareTypeSelection
text: px4Flow ? "Select which version of the firmware you would like to install:" : "Select which version of the above flight stack you would like to install:"
}
- QGCComboBox {
- id: firmwareVersionCombo
- width: 200
- visible: showVersionSelection
- model: px4Flow ? px4FlowTypeList : px4FirmwareTypeList
-
- onActivated: {
- if (model.get(index).firmwareType == FirmwareUpgradeController.PX4BetaFirmware) {
- firmwareVersionWarningLabel.visible = true
- firmwareVersionWarningLabel.text = "WARNING: BETA FIRMWARE. " +
- "This firmware version is ONLY intended for beta testers. " +
- "Although it has received FLIGHT TESTING, it represents actively changed code. " +
- "Do NOT use for normal operation."
- } else if (model.get(index).firmwareType == FirmwareUpgradeController.PX4DeveloperFirmware) {
- firmwareVersionWarningLabel.visible = true
- firmwareVersionWarningLabel.text = "WARNING: CONTINUOUS BUILD FIRMWARE. " +
- "This firmware has NOT BEEN FLIGHT TESTED. " +
- "It is only intended for DEVELOPERS. " +
- "Run bench tests without props first. " +
- "Do NOT fly this without addional safety precautions. " +
- "Follow the mailing list actively when using it."
- } else {
- firmwareVersionWarningLabel.visible = false
+ Row {
+ spacing: 10
+ QGCComboBox {
+ id: firmwareVersionCombo
+ width: 200
+ visible: showFirmwareTypeSelection
+ model: px4Flow ? px4FlowTypeList : firmwareTypeList
+
+ onActivated: {
+ if (model.get(index).firmwareType == FirmwareUpgradeController.PX4BetaFirmware || FirmwareUpgradeController.APMBetaFirmware ) {
+ firmwareVersionWarningLabel.visible = true
+ firmwareVersionWarningLabel.text = "WARNING: BETA FIRMWARE. " +
+ "This firmware version is ONLY intended for beta testers. " +
+ "Although it has received FLIGHT TESTING, it represents actively changed code. " +
+ "Do NOT use for normal operation."
+ } else if (model.get(index).firmwareType == FirmwareUpgradeController.PX4DeveloperFirmware || FirmwareUpgradeController.APMDeveloperFirmware) {
+ firmwareVersionWarningLabel.visible = true
+ firmwareVersionWarningLabel.text = "WARNING: CONTINUOUS BUILD FIRMWARE. " +
+ "This firmware has NOT BEEN FLIGHT TESTED. " +
+ "It is only intended for DEVELOPERS. " +
+ "Run bench tests without props first. " +
+ "Do NOT fly this without addional safety precautions. " +
+ "Follow the mailing list actively when using it."
+ } else {
+ firmwareVersionWarningLabel.visible = false
+ }
}
- }
- }
+ }
+
+ QGCComboBox {
+ id: vehicleTypeSelectionCombo
+ width: 200
+ visible: apmFlightStack.checked
+ model: vehicleTypeList
+ }
+ }
QGCLabel {
id: firmwareVersionWarningLabel
@@ -311,8 +345,8 @@ QGCView {
wrapMode: Text.WordWrap
visible: false
}
- }
-
+ }
+
QGCCheckBox {
id: advancedMode
anchors.bottom: parent.bottom
diff --git a/src/VehicleSetup/FirmwareUpgradeController.cc b/src/VehicleSetup/FirmwareUpgradeController.cc
index 515d8b49a1..f25dc55852 100644
--- a/src/VehicleSetup/FirmwareUpgradeController.cc
+++ b/src/VehicleSetup/FirmwareUpgradeController.cc
@@ -30,6 +30,13 @@
#include "QGCFileDialog.h"
#include "QGCMessageBox.h"
+uint qHash(const FirmwareUpgradeController::FirmwareIdentifier& firmwareIDTrinity)
+{
+ return ( firmwareIDTrinity.autopilotStackType |
+ (firmwareIDTrinity.firmwareType << 8) |
+ (firmwareIDTrinity.firmwareVehicleType << 16) );
+}
+
/// @Brief Constructs a new FirmwareUpgradeController Widget. This widget is used within the PX4VehicleConfig set of screens.
FirmwareUpgradeController::FirmwareUpgradeController(void) :
_downloadManager(NULL),
@@ -65,17 +72,25 @@ void FirmwareUpgradeController::startBoardSearch(void)
_threadController->startFindBoardLoop();
}
-void FirmwareUpgradeController::flash(FirmwareType_t firmwareType)
+void FirmwareUpgradeController::flash(AutoPilotStackType_t stackType,
+ FirmwareType_t firmwareType,
+ FirmwareVehicleType_t vehicleType)
{
+ FirmwareIdentifier firmwareId = FirmwareIdentifier(stackType, firmwareType, vehicleType);
if (_bootloaderFound) {
- _getFirmwareFile(firmwareType);
+ _getFirmwareFile(firmwareId);
} else {
// We haven't found the bootloader yet. Need to wait until then to flash
_startFlashWhenBootloaderFound = true;
- _startFlashWhenBootloaderFoundFirmwareType = firmwareType;
+ _startFlashWhenBootloaderFoundFirmwareIdentity = firmwareId;
}
}
+void FirmwareUpgradeController::flash(const FirmwareIdentifier& firmwareId)
+{
+ flash(firmwareId.autopilotStackType, firmwareId.firmwareType, firmwareId.firmwareVehicleType);
+}
+
void FirmwareUpgradeController::cancel(void)
{
_eraseTimer.stop();
@@ -105,10 +120,12 @@ void FirmwareUpgradeController::_foundBoard(bool firstAttempt, const QSerialPort
case FoundBoard3drRadio:
_foundBoardType = "3DR Radio";
if (!firstAttempt) {
- // Radio always flashes stable firmware, so we can start right away without
+ // Radio always flashes latest firmware, so we can start right away without
// any further user input.
_startFlashWhenBootloaderFound = true;
- _startFlashWhenBootloaderFoundFirmwareType = PX4StableFirmware;
+ _startFlashWhenBootloaderFoundFirmwareIdentity = FirmwareIdentifier(PX4Radio,
+ StableFirmware,
+ DefaultVehicleFirmware);
}
break;
}
@@ -143,7 +160,7 @@ void FirmwareUpgradeController::_foundBootloader(int bootloaderVersion, int boar
_appendStatusLog(QString(" Flash size: %1").arg(_bootloaderBoardFlashSize));
if (_startFlashWhenBootloaderFound) {
- flash(_startFlashWhenBootloaderFoundFirmwareType);
+ flash(_startFlashWhenBootloaderFoundFirmwareIdentity);
}
}
@@ -155,116 +172,389 @@ void FirmwareUpgradeController::_bootloaderSyncFailed(void)
}
/// @brief Prompts the user to select a firmware file if needed and moves the state machine to the next state.
-void FirmwareUpgradeController::_getFirmwareFile(FirmwareType_t firmwareType)
+void FirmwareUpgradeController::_getFirmwareFile(FirmwareIdentifier firmwareIDTrinity)
{
- static DownloadLocationByFirmwareType_t rgPX4FMUV2Firmware[] = {
- { PX4StableFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v2_default.px4" },
- { PX4BetaFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v2_default.px4" },
- { PX4DeveloperFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v2_default.px4"},
- { ApmArduCopterQuadFirmware, "http://firmware.diydrones.com/Copter/stable/PX4-quad/ArduCopter-v2.px4" },
- { ApmArduCopterX8Firmware, "http://firmware.diydrones.com/Copter/stable/PX4-octa-quad/ArduCopter-v2.px4" },
- { ApmArduCopterHexaFirmware, "http://firmware.diydrones.com/Copter/stable/PX4-hexa/ArduCopter-v2.px4" },
- { ApmArduCopterOctoFirmware, "http://firmware.diydrones.com/Copter/stable/PX4-octa/ArduCopter-v2.px4" },
- { ApmArduCopterYFirmware, "http://firmware.diydrones.com/Copter/stable/PX4-tri/ArduCopter-v2.px4" },
- { ApmArduCopterY6Firmware, "http://firmware.diydrones.com/Copter/stable/PX4-y6/ArduCopter-v2.px4" },
- { ApmArduCopterHeliFirmware, "http://firmware.diydrones.com/Copter/stable/PX4-heli/ArduCopter-v2.px4" },
- { ApmArduPlaneFirmware, "http://firmware.diydrones.com/Plane/stable/PX4/ArduPlane-v2.px4" },
- { ApmRoverFirmware, "http://firmware.diydrones.com/Plane/stable/PX4/APMrover2-v2.px4" },
- };
- static const size_t crgPX4FMUV2Firmware = sizeof(rgPX4FMUV2Firmware) / sizeof(rgPX4FMUV2Firmware[0]);
-
- static const DownloadLocationByFirmwareType_t rgAeroCoreFirmware[] = {
- { PX4StableFirmware, "http://gumstix-aerocore.s3.amazonaws.com/PX4/stable/aerocore_default.px4" },
- { PX4BetaFirmware, "http://gumstix-aerocore.s3.amazonaws.com/PX4/beta/aerocore_default.px4" },
- { PX4DeveloperFirmware, "http://gumstix-aerocore.s3.amazonaws.com/PX4/master/aerocore_default.px4" },
- { ApmArduCopterQuadFirmware, "http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-quad/ArduCopter-aerocore.px4" },
- { ApmArduCopterX8Firmware, "http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-octa-quad/ArduCopter-aerocore.px4" },
- { ApmArduCopterHexaFirmware, "http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-hexa/ArduCopter-aerocore.px4" },
- { ApmArduCopterOctoFirmware, "http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-octa/ArduCopter-aerocore.px4" },
- { ApmArduCopterYFirmware, "http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-tri/ArduCopter-aerocore.px4" },
- { ApmArduCopterY6Firmware, "http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-y6/ArduCopter-aerocore.px4" },
- { ApmArduCopterHeliFirmware, "http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-heli/ArduCopter-aerocore.px4" },
- { ApmArduPlaneFirmware, "http://gumstix-aerocore.s3.amazonaws.com/APM/Plane/stable/PX4/ArduPlane-aerocore.px4" },
- { ApmRoverFirmware, "http://gumstix-aerocore.s3.amazonaws.com/APM/Plane/stable/PX4/APMrover2-aerocore.px4" },
- };
- static const size_t crgAeroCoreFirmware = sizeof(rgAeroCoreFirmware) / sizeof(rgAeroCoreFirmware[0]);
-
- static const DownloadLocationByFirmwareType_t rgPX4FMUV1Firmware[] = {
- { PX4StableFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v1_default.px4" },
- { PX4BetaFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v1_default.px4" },
- { PX4DeveloperFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v1_default.px4" },
- };
- static const size_t crgPX4FMUV1Firmware = sizeof(rgPX4FMUV1Firmware) / sizeof(rgPX4FMUV1Firmware[0]);
-
- static const DownloadLocationByFirmwareType_t rgPX4FlowFirmware[] = {
- { PX4StableFirmware, "http://px4-travis.s3.amazonaws.com/Flow/master/px4flow.px4" },
- };
- static const size_t crgPX4FlowFirmware = sizeof(rgPX4FlowFirmware) / sizeof(rgPX4FlowFirmware[0]);
-
- static const DownloadLocationByFirmwareType_t rg3DRRadioFirmware[] = {
- { PX4StableFirmware, "http://firmware.diydrones.com/SiK/stable/radio~hm_trp.ihx" },
- };
- static const size_t crg3DRRadioFirmware = sizeof(rg3DRRadioFirmware) / sizeof(rg3DRRadioFirmware[0]);
-
+
+ static QHash<FirmwareIdentifier, QString> rgPX4FMUV2Firmware;
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackPX4,
+ StableFirmware,
+ DefaultVehicleFirmware),
+ "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v2_default.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackPX4,
+ BetaFirmware,
+ DefaultVehicleFirmware),
+ "http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v2_default.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackPX4,
+ DeveloperFirmware,
+ DefaultVehicleFirmware),
+ "http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v2_default.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ StableFirmware,
+ QuadFirmware),
+ "http://firmware.diydrones.com/Copter/stable/PX4-quad/ArduCopter-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ StableFirmware,
+ X8Firmware),
+ "http://firmware.diydrones.com/Copter/stable/PX4-octa-quad/ArduCopter-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ StableFirmware,
+ HexaFirmware),
+ "http://firmware.diydrones.com/Copter/stable/PX4-hexa/ArduCopter-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ StableFirmware,
+ OctoFirmware),
+ "http://firmware.diydrones.com/Copter/stable/PX4-octa/ArduCopter-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ StableFirmware,
+ YFirmware),
+ "http://firmware.diydrones.com/Copter/stable/PX4-tri/ArduCopter-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ StableFirmware,
+ Y6Firmware),
+ "http://firmware.diydrones.com/Copter/stable/PX4-y6/ArduCopter-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ StableFirmware,
+ HeliFirmware),
+ "http://firmware.diydrones.com/Copter/stable/PX4-heli/ArduCopter-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ StableFirmware,
+ PlaneFirmware),
+ "http://firmware.diydrones.com/Plane/stable/PX4/ArduPlane-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ StableFirmware,
+ RoverFirmware),
+ "http://firmware.diydrones.com/Rover/stable/PX4/APMrover2-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ BetaFirmware,
+ QuadFirmware),
+ "http://firmware.diydrones.com/Copter/beta/PX4-quad/ArduCopter-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ BetaFirmware,
+ X8Firmware),
+ "http://firmware.diydrones.com/Copter/beta/PX4-octa-quad/ArduCopter-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ BetaFirmware,
+ HexaFirmware),
+ "http://firmware.diydrones.com/Copter/beta/PX4-hexa/ArduCopter-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ BetaFirmware,
+ OctoFirmware),
+ "http://firmware.diydrones.com/Copter/beta/PX4-octa/ArduCopter-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ BetaFirmware,
+ YFirmware),
+ "http://firmware.diydrones.com/Copter/beta/PX4-tri/ArduCopter-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ BetaFirmware,
+ Y6Firmware),
+ "http://firmware.diydrones.com/Copter/beta/PX4-y6/ArduCopter-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ BetaFirmware,
+ HeliFirmware),
+ "http://firmware.diydrones.com/Copter/beta/PX4-heli/ArduCopter-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ BetaFirmware,
+ PlaneFirmware),
+ "http://firmware.diydrones.com/Plane/beta/PX4/ArduPlane-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ BetaFirmware,
+ RoverFirmware),
+ "http://firmware.diydrones.com/Rover/beta/PX4/APMrover2-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ DeveloperFirmware,
+ QuadFirmware),
+ "http://firmware.diydrones.com/Copter/latest/PX4-quad/ArduCopter-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ DeveloperFirmware,
+ X8Firmware),
+ "http://firmware.diydrones.com/Copter/latest/PX4-octa-quad/ArduCopter-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ DeveloperFirmware,
+ HexaFirmware),
+ "http://firmware.diydrones.com/Copter/latest/PX4-hexa/ArduCopter-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ DeveloperFirmware,
+ OctoFirmware),
+ "http://firmware.diydrones.com/Copter/latest/PX4-octa/ArduCopter-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ DeveloperFirmware,
+ YFirmware),
+ "http://firmware.diydrones.com/Copter/latest/PX4-tri/ArduCopter-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ DeveloperFirmware,
+ Y6Firmware),
+ "http://firmware.diydrones.com/Copter/latest/PX4-y6/ArduCopter-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ DeveloperFirmware,
+ HeliFirmware),
+ "http://firmware.diydrones.com/Copter/latest/PX4-heli/ArduCopter-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ DeveloperFirmware,
+ PlaneFirmware),
+ "http://firmware.diydrones.com/Plane/latest/PX4/ArduPlane-v2.px4");
+
+ rgPX4FMUV2Firmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ DeveloperFirmware,
+ RoverFirmware),
+ "http://firmware.diydrones.com/Rover/latest/PX4/APMrover2-v2.px4");
+
+ //////////////////////////////////// PX4MU aerocore firmwares //////////////////////////////////////////////////
+ static QHash<FirmwareIdentifier, QString> rgAeroCoreFirmware;
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackPX4,
+ StableFirmware,
+ DefaultVehicleFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/PX4/stable/aerocore_default.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackPX4,
+ BetaFirmware,
+ DefaultVehicleFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/PX4/beta/aerocore_default.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackPX4,
+ DeveloperFirmware,
+ DefaultVehicleFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/PX4/master/aerocore_default.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ StableFirmware,
+ QuadFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-quad/ArduCopter-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ StableFirmware,
+ X8Firmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-octa-quad/ArduCopter-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ StableFirmware,
+ HexaFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-hexa/ArduCopter-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ StableFirmware,
+ OctoFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-octa/ArduCopter-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ StableFirmware,
+ YFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-tri/ArduCopter-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ StableFirmware,
+ Y6Firmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-y6/ArduCopter-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ StableFirmware,
+ HeliFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-heli/ArduCopter-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ StableFirmware,
+ PlaneFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Plane/stable/PX4/ArduPlane-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ StableFirmware,
+ RoverFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Rover/stable/PX4/APMrover2-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ BetaFirmware,
+ QuadFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Copter/beta/PX4-quad/ArduCopter-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ BetaFirmware,
+ X8Firmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Copter/beta/PX4-octa-quad/ArduCopter-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ BetaFirmware,
+ HexaFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Copter/beta/PX4-hexa/ArduCopter-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ BetaFirmware,
+ OctoFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Copter/beta/PX4-octa/ArduCopter-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ BetaFirmware,
+ YFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Copter/beta/PX4-tri/ArduCopter-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ BetaFirmware,
+ Y6Firmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Copter/beta/PX4-y6/ArduCopter-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ BetaFirmware,
+ HeliFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Copter/beta/PX4-heli/ArduCopter-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ BetaFirmware,
+ PlaneFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Plane/beta/PX4/ArduPlane-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ BetaFirmware,
+ RoverFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Rover/beta/PX4/APMrover2-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ DeveloperFirmware,
+ QuadFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-quad/ArduCopter-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ DeveloperFirmware,
+ X8Firmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-octa-quad/ArduCopter-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ DeveloperFirmware,
+ HexaFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-hexa/ArduCopter-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ DeveloperFirmware,
+ OctoFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-octa/ArduCopter-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ DeveloperFirmware,
+ YFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-tri/ArduCopter-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ DeveloperFirmware,
+ Y6Firmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-y6/ArduCopter-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ DeveloperFirmware,
+ HeliFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-heli/ArduCopter-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ DeveloperFirmware,
+ PlaneFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Plane/latest/PX4/ArduPlane-v2.px4");
+
+ rgAeroCoreFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM,
+ DeveloperFirmware,
+ RoverFirmware),
+ "http://gumstix-aerocore.s3.amazonaws.com/Rover/latest/PX4/APMrover2-v2.px4");
+
+ /////////////////////////////// FMUV1 firmwares ///////////////////////////////////////////
+
+ static QHash<FirmwareIdentifier, QString> rgPX4FMUV1Firmware;
+ rgPX4FMUV1Firmware.insert(FirmwareIdentifier(AutoPilotStackPX4,
+ StableFirmware,
+ DefaultVehicleFirmware),
+ "http://px4-travis.s3.amazonaws.com/Firmware/latest/px4fmu-v1_default.px4");
+
+ rgPX4FMUV1Firmware.insert(FirmwareIdentifier(AutoPilotStackPX4,
+ BetaFirmware,
+ DefaultVehicleFirmware),
+ "http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v1_default.px4");
+
+ rgPX4FMUV1Firmware.insert(FirmwareIdentifier(AutoPilotStackPX4,
+ DeveloperFirmware,
+ DefaultVehicleFirmware),
+ "http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v1_default.px4");
+
+ /////////////////////////////// px4flow firmwares ///////////////////////////////////////
+
+ static QHash<FirmwareIdentifier, QString> rgPX4FLowFirmware;
+ rgPX4FLowFirmware.insert(FirmwareIdentifier(PX4Flow,
+ StableFirmware,
+ DefaultVehicleFirmware),
+ "http://px4-travis.s3.amazonaws.com/Flow/master/px4flow.px4");
+
+ /////////////////////////////// 3dr radio firmwares ///////////////////////////////////////
+
+ static QHash<FirmwareIdentifier, QString> rg3DRRadioFirmware;
+ rg3DRRadioFirmware.insert(FirmwareIdentifier(PX4Flow,
+ StableFirmware,
+ DefaultVehicleFirmware),
+ "http://firmware.diydrones.com/SiK/latest/radio~hm_trp.ihx");
+
// Select the firmware set based on board type
- const DownloadLocationByFirmwareType_t* prgFirmware;
- size_t crgFirmware = 0;
+ QHash<FirmwareIdentifier, QString> prgFirmware;
switch (_bootloaderBoardID) {
case Bootloader::boardIDPX4FMUV1:
prgFirmware = rgPX4FMUV1Firmware;
- crgFirmware = crgPX4FMUV1Firmware;
break;
case Bootloader::boardIDPX4Flow:
- prgFirmware = rgPX4FlowFirmware;
- crgFirmware = crgPX4FlowFirmware;
+ prgFirmware = rgPX4FLowFirmware;
break;
case Bootloader::boardIDPX4FMUV2:
prgFirmware = rgPX4FMUV2Firmware;
- crgFirmware = crgPX4FMUV2Firmware;
break;
case Bootloader::boardIDAeroCore:
prgFirmware = rgAeroCoreFirmware;
- crgFirmware = crgAeroCoreFirmware;
break;
case Bootloader::boardID3DRRadio:
prgFirmware = rg3DRRadioFirmware;
- crgFirmware = crg3DRRadioFirmware;
break;
default:
- prgFirmware = NULL;
break;
}
- if (prgFirmware == NULL && firmwareType != PX4CustomFirmware) {
+ if (prgFirmware.isEmpty() && firmwareIDTrinity.firmwareType != CustomFirmware) {
_errorCancel("Attempting to flash an unknown board type, you must select 'Custom firmware file'");
return;
}
- if (firmwareType == PX4CustomFirmware) {
+ if (firmwareIDTrinity.firmwareType == CustomFirmware) {
_firmwareFilename = QGCFileDialog::getOpenFileName(NULL, // Parent to main window
"Select Firmware File", // Dialog Caption
QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation), // Initial directory
"Firmware Files (*.px4 *.bin *.ihx)"); // File filter
} else {
- bool found = false;
-
- for (size_t i=0; i<crgFirmware; i++) {
- if (prgFirmware->firmwareType == firmwareType) {
- found = true;
- break;
- }
- prgFirmware++;
- }
-
- if (found) {
- _firmwareFilename = prgFirmware->downloadLocation;
+
+ if (prgFirmware.contains(firmwareIDTrinity)) {
+ _firmwareFilename = prgFirmware.value(firmwareIDTrinity);
} else {
_errorCancel("Unable to find specified firmware download location");
return;
diff --git a/src/VehicleSetup/FirmwareUpgradeController.h b/src/VehicleSetup/FirmwareUpgradeController.h
index b9c4dcde20..ea26f0a045 100644
--- a/src/VehicleSetup/FirmwareUpgradeController.h
+++ b/src/VehicleSetup/FirmwareUpgradeController.h
@@ -43,33 +43,68 @@
#include <stdint.h>
+/// Supported firmware types. If you modify these you will need to update the qml file as well.
+
// Firmware Upgrade MVC Controller for FirmwareUpgrade.qml.
class FirmwareUpgradeController : public QObject
{
Q_OBJECT
public:
+ typedef enum {
+ AutoPilotStackPX4,
+ AutoPilotStackAPM,
+ PX4Flow,
+ PX4Radio
+ } AutoPilotStackType_t;
+
+ typedef enum {
+ StableFirmware,
+ BetaFirmware,
+ DeveloperFirmware,
+ CustomFirmware
+ } FirmwareType_t;
+
+ typedef enum {
+ QuadFirmware,
+ X8Firmware,
+ HexaFirmware,
+ OctoFirmware,
+ YFirmware,
+ Y6Firmware,
+ HeliFirmware,
+ PlaneFirmware,
+ RoverFirmware,
+ DefaultVehicleFirmware = QuadFirmware,
+ } FirmwareVehicleType_t;
+
+ Q_ENUMS(AutoPilotStackType_t)
+ Q_ENUMS(FirmwareType_t)
+ Q_ENUMS(FirmwareVehicleType_t)
+
+ class FirmwareIdentifier
+ {
+ public:
+ FirmwareIdentifier(AutoPilotStackType_t stack = AutoPilotStackPX4,
+ FirmwareType_t firmware = StableFirmware,
+ FirmwareVehicleType_t vehicle = DefaultVehicleFirmware)
+ : autopilotStackType(stack), firmwareType(firmware), firmwareVehicleType(vehicle) {}
+
+ bool operator==(const FirmwareIdentifier& firmwareIDTrinity) const
+ {
+ return (firmwareIDTrinity.autopilotStackType == autopilotStackType &&
+ firmwareIDTrinity.firmwareType == firmwareType &&
+ firmwareIDTrinity.firmwareVehicleType == firmwareVehicleType);
+ }
+
+ // members
+ AutoPilotStackType_t autopilotStackType;
+ FirmwareType_t firmwareType;
+ FirmwareVehicleType_t firmwareVehicleType;
+ };
+
FirmwareUpgradeController(void);
- /// Supported firmware types. If you modify these you will need to update the qml file as well.
- typedef enum {
- PX4StableFirmware,
- PX4BetaFirmware,
- PX4DeveloperFirmware,
- PX4CustomFirmware,
- ApmArduCopterQuadFirmware,
- ApmArduCopterX8Firmware,
- ApmArduCopterHexaFirmware,
- ApmArduCopterOctoFirmware,
- ApmArduCopterYFirmware,
- ApmArduCopterY6Firmware,
- ApmArduCopterHeliFirmware,
- ApmArduPlaneFirmware,
- ApmRoverFirmware,
- } FirmwareType_t;
-
- Q_ENUMS(FirmwareType_t)
-
Q_PROPERTY(QString boardPort READ boardPort NOTIFY boardFound)
Q_PROPERTY(QString boardDescription READ boardDescription NOTIFY boardFound)
Q_PROPERTY(QString boardType MEMBER _foundBoardType NOTIFY boardFound)
@@ -90,8 +125,13 @@ public:
Q_INVOKABLE void cancel(void);
/// Called when the firmware type has been selected by the user to continue the flash process.
- Q_INVOKABLE void flash(FirmwareType_t firmwareType);
+ Q_INVOKABLE void flash(AutoPilotStackType_t stackType,
+ FirmwareType_t firmwareType = StableFirmware,
+ FirmwareVehicleType_t vehicleType = DefaultVehicleFirmware );
+ // overload, not exposed to qml side
+ void flash(const FirmwareIdentifier& firmwareId);
+
// Property accessors
QQuickItem* progressBar(void) { return _progressBar; }
@@ -133,16 +173,11 @@ private slots:
void _linkDisconnected(LinkInterface* link);
private:
- void _getFirmwareFile(FirmwareType_t firmwareType);
+ void _getFirmwareFile(FirmwareIdentifier firmwareIDTrinity);
void _downloadFirmware(void);
void _appendStatusLog(const QString& text, bool critical = false);
void _errorCancel(const QString& msg);
- typedef struct {
- FirmwareType_t firmwareType;
- const char* downloadLocation;
- } DownloadLocationByFirmwareType_t;
-
QString _portName;
QString _portDescription;
@@ -152,8 +187,8 @@ private:
uint32_t _bootloaderBoardID; ///< Board ID
uint32_t _bootloaderBoardFlashSize; ///< Flash size in bytes of board
- bool _startFlashWhenBootloaderFound;
- FirmwareType_t _startFlashWhenBootloaderFoundFirmwareType;
+ bool _startFlashWhenBootloaderFound;
+ FirmwareIdentifier _startFlashWhenBootloaderFoundFirmwareIdentity;
QPixmap _boardIcon; ///< Icon used to display image of board
@@ -184,4 +219,7 @@ private:
FirmwareImage* _image;
};
+// global hashing function
+uint qHash(const FirmwareUpgradeController::FirmwareIdentifier& firmwareIDTrinity);
+
#endif
--
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