FlightModesComponent.cc 4.13 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 24 25 26 27
/*=====================================================================
 
 QGroundControl Open Source Ground Control Station
 
 (c) 2009 - 2014 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/>.
 
 ======================================================================*/

/// @file
///     @author Don Gagne <don@thegagnes.com>

#include "FlightModesComponent.h"
Don Gagne's avatar
Don Gagne committed
28
#include "PX4AutoPilotPlugin.h"
Don Gagne's avatar
Don Gagne committed
29
#include "QGCQmlWidgetHolder.h"
30 31 32 33 34 35 36 37 38 39 40

struct SwitchListItem {
    const char* param;
    const char* name;
};

/// @brief Used to translate from RC_MAP_* parameters name to user string
static const SwitchListItem switchList[] = {
    { "RC_MAP_MODE_SW",     "Mode Switch:" },                // First entry must be mode switch
    { "RC_MAP_POSCTL_SW",   "Position Control Switch:" },
    { "RC_MAP_LOITER_SW",   "Loiter Switch:" },
41 42
    { "RC_MAP_RETURN_SW",   "Return Switch:" },
    { "RC_MAP_ACRO_SW",     "Acro Switch:" },
43 44 45
};
static const size_t cSwitchList = sizeof(switchList) / sizeof(switchList[0]);

46 47
FlightModesComponent::FlightModesComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
    PX4Component(vehicle, autopilot, parent),
48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63
    _name(tr("Flight Modes"))
{
}

QString FlightModesComponent::name(void) const
{
    return _name;
}

QString FlightModesComponent::description(void) const
{
    // FIXME: Better text
    return tr("The Flight Modes Component is used to set the switches associated with Flight Modes. "
              "At a minimum the Main Mode Switch must be assigned prior to flight.");
}

64
QString FlightModesComponent::iconResource(void) const
65
{
66
    return "/qmlimages/FlightModesComponentIcon.png";
67 68 69 70
}

bool FlightModesComponent::requiresSetup(void) const
{
Don Gagne's avatar
Don Gagne committed
71
    return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
72 73 74 75
}

bool FlightModesComponent::setupComplete(void) const
{
Don Gagne's avatar
Don Gagne committed
76 77
    return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ||
            _autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->rawValue().toInt() != 0;
78 79 80 81 82 83 84 85 86 87 88 89 90 91
}

QString FlightModesComponent::setupStateDescription(void) const
{
    const char* stateDescription;
    
    if (requiresSetup()) {
        stateDescription = "Requires calibration";
    } else {
        stateDescription = "Calibrated";
    }
    return QString(stateDescription);
}

Don Gagne's avatar
Don Gagne committed
92
QStringList FlightModesComponent::setupCompleteChangedTriggerList(void) const
93
{
Don Gagne's avatar
Don Gagne committed
94
    return QStringList("RC_MAP_MODE_SW");
95 96 97 98 99 100 101 102 103 104 105 106 107
}

QStringList FlightModesComponent::paramFilterList(void) const
{
    QStringList list;
    
    for (size_t i=0; i<cSwitchList; i++) {
        list << switchList[i].param;
    }

    return list;
}

108
QUrl FlightModesComponent::setupSource(void) const
109
{
110
    return QUrl::fromUserInput("qrc:/qml/FlightModesComponent.qml");
111 112
}

113
QUrl FlightModesComponent::summaryQmlSource(void) const
114
{
115
    return QUrl::fromUserInput("qrc:/qml/FlightModesComponentSummary.qml");
116
}
Don Gagne's avatar
Don Gagne committed
117 118 119

QString FlightModesComponent::prerequisiteSetup(void) const
{
Don Gagne's avatar
Don Gagne committed
120
    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
121 122 123 124 125 126 127 128 129 130 131
        // No RC input
        return QString();
    } else {
        PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
        Q_ASSERT(plugin);

        if (!plugin->airframeComponent()->setupComplete()) {
            return plugin->airframeComponent()->name();
        } else if (!plugin->radioComponent()->setupComplete()) {
            return plugin->radioComponent()->name();
        }
Don Gagne's avatar
Don Gagne committed
132 133 134 135
    }
    
    return QString();
}