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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.
*
****************************************************************************/
import QtQuick 2.3
import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.4
import QtQuick.Dialogs 1.2
import QtQuick.Layouts 1.2
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
/// PX4 Advanced Flight Mode configuration
Item {
id: root
// The following properties must be pushed in from the Loader
//property var qgcView - QGCView control
//property var qgcViewPanel - QGCViewPanel control
readonly property bool _shortText: ScreenTools.isTinyScreen
// User visible strings
readonly property string title: qsTr("FLIGHT MODES")
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."))
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")
readonly property string assistModeName: qsTr("Assist")
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. ") +
qsTr("In order for the Attitude Control/Position Control switch to be active, the Main switch must be in Assist mode.")
readonly property string autoModeName: qsTr("Auto")
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. ") +
qsTr("In order for the Mission/Loiter switch to be active, the Main switch must be in Auto mode.")
readonly property string fwAcroModeName: qsTr("Stabilized")
readonly property string mrAcroModeName: qsTr("Acro")
readonly property string fwAcroModeDescription: qsTr("Roll/pitch angles and rudder deflection are controlled. ")
readonly property string mrAcroModeDescription: qsTr("The angular rates are controlled, but not the attitude. ")
readonly property string altCtlModeName: qsTr("Altitude")
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. ")
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. ")
readonly property string missionModeName: qsTr("Mission")
readonly property string missionModeDescription: qsTr("The aircraft obeys the programmed mission sent by QGroundControl. ")
readonly property string loiterModeName: qsTr("Hold")
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. ")
readonly property string returnModeName: qsTr("Return")
readonly property string returnModeDescription: qsTr("The vehicle returns to the home position, loiters and then lands. ")
readonly property string offboardModeName: qsTr("Offboard")
readonly property string offboardModeDescription: qsTr("All flight control aspects are controlled by an offboard system.")
readonly property real modeSpacing: ScreenTools.defaultFontPixelHeight / 3
PX4AdvancedFlightModesController {
id: controller
factPanel: qgcViewPanel
onModeRowsChanged: recalcModePositions()
}
Timer {
interval: 200
running: true
onTriggered: {
recalcModePositions()
}
}
function recalcModePositions() {
var spacing = ScreenTools.defaultFontPixelHeight / 2
var nextY = manualMode.y + manualMode.height + spacing
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
}
} else if (controller.autoModeRow == index) {
if (controller.autoModeVisible) {
autoMode.y = nextY
autoMode.z = 9 - index
nextY += autoMode.height + spacing
}
} 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
}
}
scrollItem.height = nextY
}
Component {
id: joystickEnabledDialogComponent
QGCViewMessage {
message: qsTr("Flight Mode Config is disabled since you have a Joystick enabled.")
}
}
ScrollView {
id: scroll
anchors.fill: parent
horizontalScrollBarPolicy: Qt.ScrollBarAlwaysOff
Item {
id: scrollItem
width: scroll.viewport.width
Item {
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
font.pointSize: ScreenTools.defaultFontPointSize
wrapMode: Text.WordWrap
}
Column {
id: buttonColumn
anchors.rightMargin: ScreenTools.defaultFontPixelWidth
anchors.right: parent.right
spacing: ScreenTools.defaultFontPixelHeight / 4
QGCButton {
text: qsTr("Use Single Channel Mode Selection")
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
}
}
QGCButton {
id: applyButton
text: qsTr("Generate Thresholds")
onClicked: controller.generateThresholds()
}
}
}
Item {
id: lastSpacer
anchors.top: helpApplyRow.bottom
height: ScreenTools.defaultFontPixelHeight
width: 10
}
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
}
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 } }
}
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 } }
}
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 } }
}
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
onThresholdValueChanged: controller.altCtlModeThreshold = thresholdValue
Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
}
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 } }
}
ModeSwitchDisplay {
id: missionMode
flightModeName: missionModeName
flightModeDescription: missionModeDescription
rcValue: controller.missionModeRcValue
modeChannelIndex: controller.missionModeChannelIndex
modeChannelEnabled: false
modeSelected: controller.missionModeSelected
thresholdValue: controller.missionModeThreshold
thresholdDragEnabled: !controller.autoModeVisible
onThresholdValueChanged: controller.missionModeThreshold = thresholdValue
Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } }
}
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 } }
}
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 } }
}
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