PX4AdvancedFlightModes.qml 19.2 KB
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/****************************************************************************
 *
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 * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/
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import QtQuick                  2.3
import QtQuick.Controls         1.2
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import QtQuick.Controls.Styles  1.4
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import QtQuick.Dialogs          1.2
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import QtQuick.Layouts          1.2
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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

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/// PX4 Advanced Flight Mode configuration
Item {
    id: root

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    readonly property bool _shortText: ScreenTools.isTinyScreen
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    // User visible strings

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    readonly property string title:                     qsTr("FLIGHT MODES")
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    property string topHelpText: ScreenTools.isTinyScreen ?
                                     qsTr("Assign Flight Modes to radio control channels and adjust the thresholds for triggering them.") :
                                     (qsTr("Assign Flight Modes to radio control channels and adjust the thresholds for triggering them. ") +
                                      qsTr("You can assign multiple flight modes to a single channel. ") +
                                      qsTr("Turn your radio control on to test switch settings. ") +
                                      qsTr("The following channels: ") + controller.reservedChannels +
                                      qsTr(" are not available for Flight Modes since they are already in use for other functions."))
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    readonly property string fwManualModeName:          qsTr("Manual/Main")
    readonly property string mrManualModeName:          qsTr("Stabilized/Main")
    readonly property string fwManualModeDescription:   qsTr("The pilot has full control of the aircraft, no assistance is provided. ") +
                                                        qsTr("The Main mode switch must always be assigned to a channel in order to fly")
    readonly property string mrManualModeDescription:   qsTr("The pilot has full control of the aircraft, only attitude is stabilized. ") +
                                                        qsTr("The Main mode switch must always be assigned to a channel in order to fly")
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    readonly property string assistModeName:            qsTr("Assist")
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    readonly property string assistModeDescription:     qsTr("If Position Control is placed on a separate channel from the Main mode channel, an additional 'Assist' mode is added to the Main switch. ") +
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                                                        qsTr("In order for the Attitude Control/Position Control switch to be active, the Main switch must be in Assist mode.")
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    readonly property string autoModeName:              qsTr("Auto")
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    readonly property string autoModeDescription:       qsTr("If Loiter is placed on a separate channel from the Main mode channel, an additional 'Auto' mode is added to the Main switch. ") +
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                                                        qsTr("In order for the Mission/Loiter switch to be active, the Main switch must be in Auto mode.")
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    readonly property string fwAcroModeName:            qsTr("Stabilized")
    readonly property string mrAcroModeName:            qsTr("Acro")
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    readonly property string fwAcroModeDescription:     qsTr("Roll/pitch angles and rudder deflection are controlled. ")
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    readonly property string mrAcroModeDescription:     qsTr("The angular rates are controlled, but not the attitude. ")
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    readonly property string altCtlModeName:            qsTr("Altitude")
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    readonly property string fwAltCtlModeDescription:   qsTr("Roll stick controls banking, pitch stick altitude ") +
                                                        qsTr("Throttle stick controls speed. ") +
                                                        qsTr("With no stick inputs the plane holds heading, but drifts off in wind. ")
    readonly property string mrAltCtlModeDescription:   qsTr("Same as Stablized mode except that Throttle controls climb/sink rate. Centered Throttle holds altitude steady. ")
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    readonly property string posCtlModeName:            qsTr("Position Control")
    readonly property string fwPosCtlModeDescription:   qsTr("Roll stick controls banking, pitch stick controls altitude. ") +
                                                        qsTr("Throttle stick controls speed.") +
                                                        qsTr("With no stick inputs the plane flies a straight line, even in wind. ")
    readonly property string mrPosCtlModeDescription:   qsTr("Roll and Pitch sticks control sideways and forward speed ") +
                                                        qsTr("Throttle stick controls climb / sink rade. ")
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    readonly property string missionModeName:           qsTr("Mission")
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    readonly property string missionModeDescription:    qsTr("The aircraft obeys the programmed mission sent by QGroundControl. ")
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    readonly property string loiterModeName:            qsTr("Hold")
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    readonly property string fwLoiterModeDescription:   qsTr("The aircraft flies in a circle around the current position at the current altitude. ")
    readonly property string mrLoiterModeDescription:   qsTr("The multirotor hovers at the current position and altitude. ")
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    readonly property string returnModeName:            qsTr("Return")
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    readonly property string returnModeDescription:     qsTr("The vehicle returns to the launch position, loiters and then lands. ")
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    readonly property string offboardModeName:          qsTr("Offboard")
    readonly property string offboardModeDescription:   qsTr("All flight control aspects are controlled by an offboard system.")
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    readonly property real modeSpacing: ScreenTools.defaultFontPixelHeight / 3

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    PX4AdvancedFlightModesController {
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        id:         controller
        onModeRowsChanged: recalcModePositions()
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    }

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    Timer {
        interval:   200
        running:    true
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        onTriggered: {
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            recalcModePositions()
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        }
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    }
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    function recalcModePositions() {
        var spacing = ScreenTools.defaultFontPixelHeight / 2
        var nextY = manualMode.y + manualMode.height + spacing
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        for (var index = 0; index < 9; index++) {
            if (controller.assistModeRow == index) {
                if (controller.assistModeVisible) {
                    assistMode.y = nextY
                    assistMode.z = 9 - index
                    nextY += assistMode.height + spacing
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                }
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            } else if (controller.autoModeRow == index) {
                if (controller.autoModeVisible) {
                    autoMode.y = nextY
                    autoMode.z = 9 - index
                    nextY += autoMode.height  + spacing
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                }
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            } else if (controller.acroModeRow == index) {
                acroMode.y = nextY
                acroMode.z = 9 - index
                nextY += acroMode.height + spacing
            } else if (controller.altCtlModeRow == index) {
                altCtlMode.y = nextY
                altCtlMode.z = 9 - index
                nextY += altCtlMode.height + spacing
            } else if (controller.posCtlModeRow == index) {
                posCtlMode.y = nextY
                posCtlMode.z = 9 - index
                nextY += posCtlMode.height + spacing
            } else if (controller.loiterModeRow == index) {
                loiterMode.y = nextY
                loiterMode.z = 9 - index
                nextY += loiterMode.height + spacing
            } else if (controller.missionModeRow == index) {
                missionMode.y = nextY
                missionMode.z = 9 - index
                nextY += missionMode.height + spacing
            } else if (controller.returnModeRow == index) {
                returnMode.y = nextY
                returnMode.z = 9 - index
                nextY += returnMode.height + spacing
            } else if (controller.offboardModeRow == index) {
                offboardMode.y = nextY
                offboardMode.z = 9 - index
                nextY += offboardMode.height + spacing
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            }
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        }
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        scrollItem.height = nextY
    }
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    Component {
        id: joystickEnabledDialogComponent
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        QGCViewMessage {
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            message: qsTr("Flight Mode Config is disabled since you have a Joystick enabled.")
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        }
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    }

    ScrollView {
        id:                         scroll
        anchors.fill:               parent
        horizontalScrollBarPolicy:  Qt.ScrollBarAlwaysOff
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        Item {
            id:     scrollItem
            width:  scroll.viewport.width
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            Item {
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                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
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                    font.pointSize:         ScreenTools.defaultFontPointSize
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                    wrapMode:               Text.WordWrap
                }

                Column {
                    id:                     buttonColumn
                    anchors.rightMargin:    ScreenTools.defaultFontPixelWidth
                    anchors.right:          parent.right
                    spacing:                ScreenTools.defaultFontPixelHeight / 4

                    QGCButton {
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                        text: qsTr("Use Single Channel Mode Selection")
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                        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
                        }
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                    }

                    QGCButton {
                        id:                     applyButton
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                        text:                   qsTr("Generate Thresholds")
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                        onClicked: controller.generateThresholds()
                    }
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                }
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            }
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            Item {
                id:             lastSpacer
                anchors.top:    helpApplyRow.bottom
                height:         ScreenTools.defaultFontPixelHeight
                width:          10
            }
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            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
            }
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            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 } }
            }
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            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 } }
            }
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            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 } }
            }
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            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
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                onThresholdValueChanged:    controller.altCtlModeThreshold = thresholdValue
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                Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
            }
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            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 } }
            }
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            ModeSwitchDisplay {
                id:                     missionMode
                flightModeName:         missionModeName
                flightModeDescription:  missionModeDescription
                rcValue:                controller.missionModeRcValue
                modeChannelIndex:       controller.missionModeChannelIndex
                modeChannelEnabled:     false
                modeSelected:           controller.missionModeSelected
                thresholdValue:         controller.missionModeThreshold
                thresholdDragEnabled:   !controller.autoModeVisible
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                onThresholdValueChanged: controller.missionModeThreshold = thresholdValue
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                Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
            }
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            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 } }
            }
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            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 } }
            }
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            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