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
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
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
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
#include "BatteryMonitorConfig.h"
#include <QMessageBox>
BatteryMonitorConfig::BatteryMonitorConfig(QWidget *parent) : AP2ConfigWidget(parent)
{
ui.setupUi(this);
ui.monitorComboBox->addItem(tr("0: Disabled"));
ui.monitorComboBox->addItem(tr("3: Battery Volts"));
ui.monitorComboBox->addItem(tr("4: Voltage and Current"));
ui.sensorComboBox->addItem(tr("0: Other"));
ui.sensorComboBox->addItem("1: AttoPilot 45A");
ui.sensorComboBox->addItem("2: AttoPilot 90A");
ui.sensorComboBox->addItem("3: AttoPilot 180A");
ui.sensorComboBox->addItem("4: 3DR Power Module");
ui.apmVerComboBox->addItem("0: APM1");
ui.apmVerComboBox->addItem("1: APM2 - 2.5 non 3DR");
ui.apmVerComboBox->addItem("2: APM2.5 - 3DR Power Module");
ui.apmVerComboBox->addItem("3: PX4");
ui.alertOnLowCheckBox->setVisible(false); //Unimpelemented, but TODO.
connect(ui.monitorComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(monitorCurrentIndexChanged(int)));
connect(ui.sensorComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(sensorCurrentIndexChanged(int)));
connect(ui.apmVerComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(apmVerCurrentIndexChanged(int)));
connect(ui.calcDividerLineEdit,SIGNAL(editingFinished()),this,SLOT(calcDividerSet()));
connect(ui.ampsPerVoltsLineEdit,SIGNAL(editingFinished()),this,SLOT(ampsPerVoltSet()));
connect(ui.battCapacityLineEdit,SIGNAL(editingFinished()),this,SLOT(batteryCapacitySet()));
initConnections();
}
void BatteryMonitorConfig::activeUASSet(UASInterface *uas)
{
if (m_uas)
{
disconnect(m_uas,SIGNAL(batteryChanged(UASInterface*,double,double,double,int)),this,SLOT(batteryChanged(UASInterface*,double,double,double,int)));
}
AP2ConfigWidget::activeUASSet(uas);
if (!uas)
{
return;
}
connect(uas,SIGNAL(batteryChanged(UASInterface*,double,double,double,int)),this,SLOT(batteryChanged(UASInterface*,double,double,double,int)));
}
void BatteryMonitorConfig::alertOnLowClicked(bool checked)
{
}
void BatteryMonitorConfig::calcDividerSet()
{
if (!m_uas)
{
showNullMAVErrorMessageBox();
return;
}
bool ok = false;
float newval = ui.calcDividerLineEdit->text().toFloat(&ok);
if (!ok)
{
//Error parsing;
QMessageBox::information(0,"Error","Invalid number entered for voltage divider. Please try again");
return;
}
m_uas->getParamManager()->setParameter(1,"VOLT_DIVIDER",newval);
}
void BatteryMonitorConfig::ampsPerVoltSet()
{
if (!m_uas)
{
showNullMAVErrorMessageBox();
return;
}
bool ok = false;
float newval = ui.ampsPerVoltsLineEdit->text().toFloat(&ok);
if (!ok)
{
//Error parsing;
QMessageBox::information(0,"Error","Invalid number entered for amps per volts. Please try again");
return;
}
m_uas->getParamManager()->setParameter(1,"AMPS_PER_VOLT",newval);
}
void BatteryMonitorConfig::batteryCapacitySet()
{
if (!m_uas)
{
showNullMAVErrorMessageBox();
return;
}
bool ok = false;
float newval = ui.battCapacityLineEdit->text().toFloat(&ok);
if (!ok)
{
//Error parsing;
QMessageBox::information(0,"Error","Invalid number entered for amps per volts. Please try again");
return;
}
m_uas->getParamManager()->setParameter(1,"BATT_CAPACITY",newval);
}
void BatteryMonitorConfig::monitorCurrentIndexChanged(int index)
{
if (!m_uas)
{
showNullMAVErrorMessageBox();
return;
}
if (index == 0) //Battery Monitor Disabled
{
m_uas->getParamManager()->setParameter(1,"BATT_VOLT_PIN",-1);
m_uas->getParamManager()->setParameter(1,"BATT_CURR_PIN",-1);
m_uas->getParamManager()->setParameter(1,"BATT_MONITOR",0);
ui.sensorComboBox->setEnabled(false);
ui.apmVerComboBox->setEnabled(false);
ui.measuredVoltsLineEdit->setEnabled(false);
ui.measuredVoltsLineEdit->setEnabled(false);
ui.calcDividerLineEdit->setEnabled(false);
ui.calcVoltsLineEdit->setEnabled(false);
ui.ampsPerVoltsLineEdit->setEnabled(false);
}
else if (index == 1) //Monitor voltage only
{
m_uas->getParamManager()->setParameter(1,"BATT_MONITOR",3);
ui.sensorComboBox->setEnabled(false);
ui.apmVerComboBox->setEnabled(true);
ui.measuredVoltsLineEdit->setEnabled(true);
ui.calcDividerLineEdit->setEnabled(true);
ui.calcVoltsLineEdit->setEnabled(false);
ui.ampsPerVoltsLineEdit->setEnabled(false);
}
else if (index == 2) //Monitor voltage and current
{
m_uas->getParamManager()->setParameter(1,"BATT_MONITOR",4);
ui.sensorComboBox->setEnabled(true);
ui.apmVerComboBox->setEnabled(true);
ui.measuredVoltsLineEdit->setEnabled(true);
ui.calcDividerLineEdit->setEnabled(true);
ui.calcVoltsLineEdit->setEnabled(false);
ui.ampsPerVoltsLineEdit->setEnabled(true);
}
}
void BatteryMonitorConfig::sensorCurrentIndexChanged(int index)
{
float maxvolt = 0.0;
float maxamps = 0.0;
float mvpervolt = 0.0;
float mvperamp = 0.0;
float topvolt = 0.0;
float topamps = 0.0;
if (index == 1)
{
//atto 45 see https://www.sparkfun.com/products/10643
maxvolt = 13.6;
maxamps = 44.7;
}
else if (index == 2)
{
//atto 90 see https://www.sparkfun.com/products/9028
maxvolt = 51.8;
maxamps = 89.4;
}
else if (index == 3)
{
//atto 180 see https://www.sparkfun.com/products/10644
maxvolt = 51.8;
maxamps = 178.8;
}
else if (index == 4)
{
//3dr
maxvolt = 50.0;
maxamps = 90.0;
}
mvpervolt = calculatemVPerVolt(3.3,maxvolt);
mvperamp = calculatemVPerAmp(3.3,maxamps);
if (index == 0)
{
//Other
ui.ampsPerVoltsLineEdit->setEnabled(true);
ui.calcDividerLineEdit->setEnabled(true);
ui.measuredVoltsLineEdit->setEnabled(true);
}
else
{
topvolt = (maxvolt * mvpervolt) / 1000.0;
topamps = (maxamps * mvperamp) / 1000.0;
ui.calcDividerLineEdit->setText(QString::number(maxvolt/topvolt));
ui.ampsPerVoltsLineEdit->setText(QString::number(maxamps / topamps));
ui.ampsPerVoltsLineEdit->setEnabled(false);
ui.calcDividerLineEdit->setEnabled(false);
ui.measuredVoltsLineEdit->setEnabled(false);
}
}
float BatteryMonitorConfig::calculatemVPerAmp(float maxvoltsout,float maxamps)
{
return (1000.0 * (maxvoltsout/maxamps));
}
float BatteryMonitorConfig::calculatemVPerVolt(float maxvoltsout,float maxvolts)
{
return (1000.0 * (maxvoltsout/maxvolts));
}
void BatteryMonitorConfig::apmVerCurrentIndexChanged(int index)
{
if (!m_uas)
{
showNullMAVErrorMessageBox();
return;
}
if (index == 0) //APM1
{
m_uas->getParamManager()->setParameter(1,"BATT_VOLT_PIN",0);
m_uas->getParamManager()->setParameter(1,"BATT_CURR_PIN",1);
}
else if (index == 1) //APM2
{
m_uas->getParamManager()->setParameter(1,"BATT_VOLT_PIN",1);
m_uas->getParamManager()->setParameter(1,"BATT_CURR_PIN",2);
}
else if (index == 2) //APM2.5
{
m_uas->getParamManager()->setParameter(1,"BATT_VOLT_PIN",13);
m_uas->getParamManager()->setParameter(1,"BATT_CURR_PIN",12);
}
else if (index == 3) //PX4
{
m_uas->getParamManager()->setParameter(1,"BATT_VOLT_PIN",100);
m_uas->getParamManager()->setParameter(1,"BATT_CURR_PIN",101);
m_uas->getParamManager()->setParameter(1,"VOLT_DIVIDER",1);
ui.calcDividerLineEdit->setText("1");
}
}
BatteryMonitorConfig::~BatteryMonitorConfig()
{
}
void BatteryMonitorConfig::batteryChanged(UASInterface* uas, double voltage, double current, double percent, int seconds)
{
ui.calcVoltsLineEdit->setText(QString::number(voltage,'f',2));
if (ui.measuredVoltsLineEdit->text() == "")
{
ui.measuredVoltsLineEdit->setText(ui.calcVoltsLineEdit->text());
}
}
void BatteryMonitorConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
{
if (parameterName == "VOLT_DIVIDER")
{
ui.calcDividerLineEdit->setText(QString::number(value.toFloat(),'f',4));
}
else if (parameterName == "AMP_PER_VOLT")
{
ui.ampsPerVoltsLineEdit->setText(QString::number(value.toFloat(),'g',2));
}
else if (parameterName == "BATT_MONITOR")
{
if (value.toInt() == 0) //0: Disable
{
ui.monitorComboBox->setCurrentIndex(0);
}
else if (value.toInt() == 3) //3: Battery volts
{
ui.monitorComboBox->setCurrentIndex(1);
}
else if (value.toInt() == 4) //4: Voltage and Current
{
ui.monitorComboBox->setCurrentIndex(2);
}
}
else if (parameterName == "BATT_CAPACITY")
{
ui.battCapacityLineEdit->setText(QString::number(value.toFloat()));
}
else if (parameterName == "BATT_VOLT_PIN")
{
int ivalue = value.toInt();
if (ivalue == 0) //APM1
{
ui.apmVerComboBox->setCurrentIndex(0);
}
else if (ivalue == 1) //APM2
{
ui.apmVerComboBox->setCurrentIndex(1);
}
else if (ivalue == 13) //APM2.5
{
ui.apmVerComboBox->setCurrentIndex(2);
}
else if (ivalue == 100) //PX4
{
ui.apmVerComboBox->setCurrentIndex(3);
}
}
else if (parameterName == "BATT_CURR_PIN")
{
//Unused at the moment, everything is off BATT_VOLT_PIN
}
}