PX4RadioComponent.cc 2.69 KB
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/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

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#include "PX4RadioComponent.h"
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#include "PX4AutoPilotPlugin.h"
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PX4RadioComponent::PX4RadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
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    VehicleComponent(vehicle, autopilot, parent),
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    _name(tr("Radio"))
{
}

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QString PX4RadioComponent::name(void) const
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{
    return _name;
}

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QString PX4RadioComponent::description(void) const
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{
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    return tr("Radio Setup is used to calibrate your transmitter. "
              "It also assign channels for Roll, Pitch, Yaw and Throttle vehicle control as well as determining whether they are reversed.");
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}

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QString PX4RadioComponent::iconResource(void) const
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{
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    return "/qmlimages/RadioComponentIcon.png";
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}

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bool PX4RadioComponent::requiresSetup(void) const
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{
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    return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
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}

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bool PX4RadioComponent::setupComplete(void) const
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{
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    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
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        // The best we can do to detect the need for a radio calibration is look for attitude
        // controls to be mapped.
        QStringList attitudeMappings;
        attitudeMappings << "RC_MAP_ROLL" << "RC_MAP_PITCH" << "RC_MAP_YAW" << "RC_MAP_THROTTLE";
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        foreach(const QString &mapParam, attitudeMappings) {
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            if (_autopilot->getParameterFact(FactSystem::defaultComponentId, mapParam)->rawValue().toInt() == 0) {
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                return false;
            }
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        }
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    }
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    return true;
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}

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QStringList PX4RadioComponent::setupCompleteChangedTriggerList(void) const
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{
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    QStringList triggers;
    
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    triggers << "COM_RC_IN_MODE" << "RC_MAP_ROLL" << "RC_MAP_PITCH" << "RC_MAP_YAW" << "RC_MAP_THROTTLE";
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    return triggers;
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}

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QUrl PX4RadioComponent::setupSource(void) const
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{
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    return QUrl::fromUserInput("qrc:/qml/RadioComponent.qml");
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}

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QUrl PX4RadioComponent::summaryQmlSource(void) const
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{
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    return QUrl::fromUserInput("qrc:/qml/PX4RadioComponentSummary.qml");
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}
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QString PX4RadioComponent::prerequisiteSetup(void) const
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{
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    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
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        PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
        
        if (!plugin->airframeComponent()->setupComplete()) {
            return plugin->airframeComponent()->name();

        }
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    }
    
    return QString();
}