FlightModesComponent.qml 22.7 KB
Newer Older
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
/*=====================================================================

 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/>.

 ======================================================================*/

Don Gagne's avatar
Don Gagne committed
24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44
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

QGCView {
    id:         rootQGCView
    viewPanel:  panel

    readonly property int monitorThresholdCharWidth: 8  // Character width of Monitor and Threshold labels

    // User visible strings

Don Gagne's avatar
Don Gagne committed
45
    readonly property string title:                     "FLIGHT MODES"
46 47


48
    property string topHelpText:                        "Assign Flight Modes to radio control channels and adjust the thresholds for triggering them. " +
Don Gagne's avatar
Don Gagne committed
49
                                                        "You can assign multiple flight modes to a single channel. " +
50 51 52
                                                        "Turn your radio control on to test switch settings. " +
                                                        "The following channels: " + controller.reservedChannels +
                                                        " are not available for Flight Modes since they are already in use for other functions."
Don Gagne's avatar
Don Gagne committed
53 54 55 56 57 58


    readonly property string fwManualModeName:          "Manual/Main"
    readonly property string mrManualModeName:          "Stabilized/Main"
    readonly property string fwManualModeDescription:   "The pilot has full control of the aircraft, no assistance is provided. " +
                                                        "The Main mode switch must always be assigned to a channel in order to fly"
59 60 61
    readonly property string mrManualModeDescription:   "Roll and Pitch control angle of multi-rotor in respective direction. " +
                                                        "Centering Roll/Pitch will return multirotor to level attitude. " +
                                                        "Position is not automatically held, multi-rotor will continue drifting in the direction it was previously travelling. " +
Don Gagne's avatar
Don Gagne committed
62 63 64 65 66 67 68 69 70 71 72 73 74
                                                        "Altitude is controlled fully by pilot using the Throttle stick. " +
                                                        "The Main mode switch must always be assigned to a channel in order to fly"

    readonly property string assistModeName:            "Assist"
    readonly property string assistModeDescription:     "If Position Control is placed on a seperate channel from the Main mode channel, an additional 'Assist' mode is added to the Main switch. " +
                                                        "In order for the Attitude Control/Position Control switch to be active, the Main switch must be in Assist mode."

    readonly property string autoModeName:              "Auto"
    readonly property string autoModeDescription:       "If Loiter is placed on a seperate channel from the Main mode channel, an additional 'Auto' mode is added to the Main switch. " +
                                                        "In order for the Mission/Loiter switch to be active, the Main switch must be in Auto mode."

    readonly property string fwAcroModeName:            "Stabilized"
    readonly property string mrAcroModeName:            "Acro"
75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90
    readonly property string fwAcroModeDescription:     "Roll and Pitch control angle of aircraft in respective direction. " +
                                                        "Centering Roll/Pitch will return the aircraft to a level attitude. " +
                                                        "Neither altitude nor direction is automatically controlled. " +
                                                        "Both Throttle and Yaw and in full control of pilot."
    readonly property string mrAcroModeDescription:     "Roll and Pitch control angular rate of change of multi-rotor in respective direction. " +
                                                        "This allows for multi-rotor to rotate through a full 360 degrees in roll and/or pitch. " +
                                                        "Centering Roll/Pitch will return the multirotor to a level attitude. " +
                                                        "Position is not automatically held, multi-rotor will continue drifting in the direction it was previously travelling. " +
                                                        "Altitude is under manual control of pilot using the Throttle stick."

    readonly property string altCtlModeName:            "Altitude Control"
    readonly property string fwAltCtlModeDescription:   "Current Altitude is maintained automatically when Pitch is centered. " +
                                                        "Roll and Pitch centered gives level flight, but does not maintain straight line direction against wind. " +
                                                        "Throttle controls speed, Pitch controls climb/sink rate, Roll controls turn rate. " +
                                                        "Position Control and Attitude Control must always be on the same channel."
    readonly property string mrAltCtlModeDescription:   "Same as Stablized mode except that Throttle controls climb/sink rate. Centered Throttle holds altitude steady."
Don Gagne's avatar
Don Gagne committed
91 92

    readonly property string posCtlModeName:            "Position Control"
93 94 95
    readonly property string fwPosCtlModeDescription:   "Current Altitude is maintained automatically when Pitch is centered. " +
                                                        "Roll and Pitch centered gives level flight in a straight line compensating against wind. " +
                                                        "Throttle controls speed, Pitch controls climb/sink rate, Roll controls turn rate. " +
Don Gagne's avatar
Don Gagne committed
96 97
                                                        "Position Control and Attitude Control must always be on the same channel."
    readonly property string mrPosCtlModeDescription:   "Roll and Pitch control left-right and front-back speed over ground respectively. " +
98
                                                        "Centering Roll/Pitch will level and hold position. " +
Don Gagne's avatar
Don Gagne committed
99
                                                        "Yaw controls yaw rate as in Stablized mode. " +
100 101
                                                        "Centered throttle holds current altitude. " +
                                                        "Throttle above/below center controls climb/sink rate. " +
Don Gagne's avatar
Don Gagne committed
102 103 104 105
                                                        "Position Control and Attitude Control must always be on the same channel."

    readonly property string missionModeName:           "Mission"
    readonly property string missionModeDescription:    "The aircraft obeys the programmed mission sent by QGroundControl. " +
106
                                                        "If no mission was sent, aircraft will Loiter at current position instead."
Don Gagne's avatar
Don Gagne committed
107 108 109 110

    readonly property string loiterModeName:            "Loiter"
    readonly property string fwLoiterModeDescription:   "The aircraft flies in a circle around the current position at the current altitude. " +
                                                        "Loiter and Mission must always be on the same channel."
111
    readonly property string mrLoiterModeDescription:   "The multirotor hovers at the current position and altitude. " +
Don Gagne's avatar
Don Gagne committed
112 113 114
                                                        "Loiter and Mission must always be on the same channel."

    readonly property string returnModeName:            "Return"
115
    readonly property string returnModeDescription:     "The vehicle returns to the home position, loiters and then lands. " +
Don Gagne's avatar
Don Gagne committed
116 117 118
                                                        "The settings which control this sequence can be found under Setup - Safety."

    readonly property string offboardModeName:          "Offboard"
119
    readonly property string offboardModeDescription:   "All flight control aspects are controlled by an offboard system."
Don Gagne's avatar
Don Gagne committed
120 121 122

    readonly property real modeSpacing: ScreenTools.defaultFontPixelHeight / 3

123 124
    property Fact rcInMode: controller.getParameterFact(-1, "COM_RC_IN_MODE")

Don Gagne's avatar
Don Gagne committed
125 126 127 128 129 130 131
    QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }

    FlightModesComponentController {
        id:         controller
        factPanel:  panel

        onModeRowsChanged: recalcModePositions()
Don Gagne's avatar
Don Gagne committed
132 133
    }

Don Gagne's avatar
Don Gagne committed
134 135 136
    Timer {
        interval:   200
        running:    true
Don Gagne's avatar
Don Gagne committed
137

138 139 140 141 142 143 144
        onTriggered: {
            if (rcInMode.value == 1) {
                showDialog(joystickEnabledDialogComponent, title, 50, 0)
            } else {
                recalcModePositions()
            }
        }
Don Gagne's avatar
Don Gagne committed
145
    }
Don Gagne's avatar
Don Gagne committed
146

Don Gagne's avatar
Don Gagne committed
147 148 149
    function recalcModePositions() {
        var spacing = ScreenTools.defaultFontPixelHeight / 2
        var nextY = manualMode.y + manualMode.height + spacing
Don Gagne's avatar
Don Gagne committed
150

Don Gagne's avatar
Don Gagne committed
151 152 153 154 155 156
        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
Don Gagne's avatar
Don Gagne committed
157
                }
Don Gagne's avatar
Don Gagne committed
158 159 160 161 162
            } else if (controller.autoModeRow == index) {
                if (controller.autoModeVisible) {
                    autoMode.y = nextY
                    autoMode.z = 9 - index
                    nextY += autoMode.height  + spacing
Don Gagne's avatar
Don Gagne committed
163
                }
Don Gagne's avatar
Don Gagne committed
164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191
            } 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
Don Gagne's avatar
Don Gagne committed
192
            }
Don Gagne's avatar
Don Gagne committed
193
        }
Don Gagne's avatar
Don Gagne committed
194

Don Gagne's avatar
Don Gagne committed
195 196
        scrollItem.height = nextY
    }
Don Gagne's avatar
Don Gagne committed
197

Don Gagne's avatar
Don Gagne committed
198 199 200
    QGCViewPanel {
        id:             panel
        anchors.fill:   parent
Don Gagne's avatar
Don Gagne committed
201

202 203 204 205 206 207 208 209
        Component {
            id: joystickEnabledDialogComponent

            QGCViewMessage {
                message: "Flight Mode Config is disabled since you have a Joystick enabled."
            }
        }

Don Gagne's avatar
Don Gagne committed
210 211 212 213
        ScrollView {
            id:                         scroll
            anchors.fill:               parent
            horizontalScrollBarPolicy:  Qt.ScrollBarAlwaysOff
Don Gagne's avatar
Don Gagne committed
214

Don Gagne's avatar
Don Gagne committed
215 216 217
            Item {
                id:     scrollItem
                width:  scroll.viewport.width
Don Gagne's avatar
Don Gagne committed
218

219 220 221 222 223 224 225 226 227 228 229
                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
Don Gagne's avatar
Don Gagne committed
230
                        font.pixelSize:         ScreenTools.mediumFontPixelSize
231 232 233 234 235 236 237 238 239 240 241
                        wrapMode:               Text.WordWrap
                    }

                    QGCButton {
                        id:                     applyButton
                        anchors.rightMargin:    ScreenTools.defaultFontPixelWidth
                        anchors.right:          parent.right
                        text:                   "Generate Thresholds"

                        onClicked: controller.generateThresholds()
                    }
Don Gagne's avatar
Don Gagne committed
242 243
                }

Don Gagne's avatar
Don Gagne committed
244 245
                Item {
                    id:             lastSpacer
246 247
                    anchors.top:    helpApplyRow.bottom
                    height:         ScreenTools.defaultFontPixelHeight
Don Gagne's avatar
Don Gagne committed
248
                    width:          10
Don Gagne's avatar
Don Gagne committed
249
                }
Don Gagne's avatar
Don Gagne committed
250

Don Gagne's avatar
Don Gagne committed
251 252 253 254 255 256 257 258 259 260 261 262
                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

Don Gagne's avatar
Don Gagne committed
263
                    onModeChannelIndexSelected: controller.manualModeChannelIndex = index
Don Gagne's avatar
Don Gagne committed
264
                }
Don Gagne's avatar
Don Gagne committed
265

Don Gagne's avatar
Don Gagne committed
266 267 268 269 270 271 272 273 274 275 276 277 278 279 280
                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 } }
Don Gagne's avatar
Don Gagne committed
281 282
                }

Don Gagne's avatar
Don Gagne committed
283 284 285 286 287 288 289 290 291 292 293 294 295 296 297
                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 } }
Don Gagne's avatar
Don Gagne committed
298 299
                }

Don Gagne's avatar
Don Gagne committed
300 301 302 303 304 305 306 307 308 309 310
                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

Don Gagne's avatar
Don Gagne committed
311
                    onModeChannelIndexSelected:  controller.acroModeChannelIndex = index
Don Gagne's avatar
Don Gagne committed
312 313 314
                    onThresholdValueChanged:    controller.acroModeThreshold = thresholdValue

                    Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
Don Gagne's avatar
Don Gagne committed
315 316
                }

Don Gagne's avatar
Don Gagne committed
317 318
                ModeSwitchDisplay {
                    id:                     altCtlMode
319
                    flightModeName:         altCtlModeName
Don Gagne's avatar
Don Gagne committed
320 321 322 323 324 325 326
                    flightModeDescription:  controller.fixedWing ? fwAltCtlModeDescription : mrAltCtlModeDescription
                    rcValue:                controller.altCtlModeRcValue
                    modeChannelIndex:       controller.altCtlModeChannelIndex
                    modeChannelEnabled:     false
                    modeSelected:           controller.altCtlModeSelected
                    thresholdValue:         controller.altCtlModeThreshold
                    thresholdDragEnabled:   !controller.assistModeVisible
Don Gagne's avatar
Don Gagne committed
327

Don Gagne's avatar
Don Gagne committed
328
                    onThresholdValueChanged:    controller.altCtlModeThreshold = thresholdValue
Don Gagne's avatar
Don Gagne committed
329

Don Gagne's avatar
Don Gagne committed
330
                    Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
Don Gagne's avatar
Don Gagne committed
331 332
                }

Don Gagne's avatar
Don Gagne committed
333 334 335 336 337 338 339 340 341 342 343
                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

Don Gagne's avatar
Don Gagne committed
344
                    onModeChannelIndexSelected:  controller.posCtlModeChannelIndex = index
Don Gagne's avatar
Don Gagne committed
345 346 347
                    onThresholdValueChanged:    controller.posCtlModeThreshold = thresholdValue

                    Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
Don Gagne's avatar
Don Gagne committed
348 349
                }

Don Gagne's avatar
Don Gagne committed
350 351 352 353 354 355 356 357 358 359
                ModeSwitchDisplay {
                    id:                     missionMode
                    flightModeName:         missionModeName
                    flightModeDescription:  missionModeDescription
                    rcValue:                controller.missionModeRcValue
                    modeChannelIndex:       controller.missionModeChannelIndex
                    modeChannelEnabled:     false
                    modeSelected:           controller.missionModeSelected
                    thresholdValue:         controller.missionModeThreshold
                    thresholdDragEnabled:   !controller.autoModeVisible
Don Gagne's avatar
Don Gagne committed
360

Don Gagne's avatar
Don Gagne committed
361
                    onThresholdValueChanged: controller.missionModeThreshold = thresholdValue
Don Gagne's avatar
Don Gagne committed
362

Don Gagne's avatar
Don Gagne committed
363
                    Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
Don Gagne's avatar
Don Gagne committed
364 365
                }

Don Gagne's avatar
Don Gagne committed
366 367 368 369 370 371 372 373 374 375 376
                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

Don Gagne's avatar
Don Gagne committed
377
                    onModeChannelIndexSelected:  controller.loiterModeChannelIndex = index
Don Gagne's avatar
Don Gagne committed
378 379 380
                    onThresholdValueChanged:    controller.loiterModeThreshold = thresholdValue

                    Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
Don Gagne's avatar
Don Gagne committed
381 382
                }

Don Gagne's avatar
Don Gagne committed
383 384 385
                ModeSwitchDisplay {
                    id:                     returnMode
                    flightModeName:         returnModeName
386
                    flightModeDescription:  returnModeDescription
Don Gagne's avatar
Don Gagne committed
387 388 389 390 391 392 393
                    rcValue:                controller.returnModeRcValue
                    modeChannelIndex:       controller.returnModeChannelIndex
                    modeChannelEnabled:     true
                    modeSelected:           controller.returnModeSelected
                    thresholdValue:         controller.returnModeThreshold
                    thresholdDragEnabled:   true

Don Gagne's avatar
Don Gagne committed
394
                    onModeChannelIndexSelected:  controller.returnModeChannelIndex = index
Don Gagne's avatar
Don Gagne committed
395 396 397
                    onThresholdValueChanged:    controller.returnModeThreshold = thresholdValue

                    Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
Don Gagne's avatar
Don Gagne committed
398 399
                }

Don Gagne's avatar
Don Gagne committed
400 401 402 403 404 405 406 407 408 409 410
                ModeSwitchDisplay {
                    id:                     offboardMode
                    flightModeName:         offboardModeName
                    flightModeDescription:  offboardModeDescription
                    rcValue:                controller.offboardModeRcValue
                    modeChannelIndex:       controller.offboardModeChannelIndex
                    modeChannelEnabled:     true
                    modeSelected:           controller.offboardModeSelected
                    thresholdValue:         controller.offboardModeThreshold
                    thresholdDragEnabled:   true

Don Gagne's avatar
Don Gagne committed
411
                    onModeChannelIndexSelected:  controller.offboardModeChannelIndex = index
Don Gagne's avatar
Don Gagne committed
412 413 414
                    onThresholdValueChanged:    controller.offboardModeThreshold = thresholdValue

                    Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
Don Gagne's avatar
Don Gagne committed
415
                }
Don Gagne's avatar
Don Gagne committed
416 417 418 419
            } // Item
        } // Scroll View
    } // QGCViewPanel
} // QGCView