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
/*=====================================================================
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/>.
======================================================================*/
#include "PX4AutoPilotPlugin.h"
#include "AutoPilotPluginManager.h"
#include "UASManager.h"
#include "PX4ParameterLoader.h"
#include "FlightModesComponentController.h"
#include "AirframeComponentController.h"
#include "QGCMessageBox.h"
/// @file
/// @brief This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_PX4 type.
/// @author Don Gagne <don@thegagnes.com>
enum PX4_CUSTOM_MAIN_MODE {
PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
PX4_CUSTOM_MAIN_MODE_ALTCTL,
PX4_CUSTOM_MAIN_MODE_POSCTL,
PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_MAIN_MODE_ACRO,
PX4_CUSTOM_MAIN_MODE_OFFBOARD,
};
enum PX4_CUSTOM_SUB_MODE_AUTO {
PX4_CUSTOM_SUB_MODE_AUTO_READY = 1,
PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF,
PX4_CUSTOM_SUB_MODE_AUTO_LOITER,
PX4_CUSTOM_SUB_MODE_AUTO_MISSION,
PX4_CUSTOM_SUB_MODE_AUTO_RTL,
PX4_CUSTOM_SUB_MODE_AUTO_LAND,
PX4_CUSTOM_SUB_MODE_AUTO_RTGS
};
union px4_custom_mode {
struct {
uint16_t reserved;
uint8_t main_mode;
uint8_t sub_mode;
};
uint32_t data;
float data_float;
};
PX4AutoPilotPlugin::PX4AutoPilotPlugin(UASInterface* uas, QObject* parent) :
AutoPilotPlugin(uas, parent),
_parameterFacts(NULL),
_airframeComponent(NULL),
_radioComponent(NULL),
_flightModesComponent(NULL),
_sensorsComponent(NULL),
_safetyComponent(NULL),
_powerComponent(NULL),
_incorrectParameterVersion(false)
{
Q_ASSERT(uas);
_parameterFacts = new PX4ParameterLoader(this, uas, this);
Q_CHECK_PTR(_parameterFacts);
connect(_parameterFacts, &PX4ParameterLoader::parametersReady, this, &PX4AutoPilotPlugin::_pluginReadyPreChecks);
connect(_parameterFacts, &PX4ParameterLoader::parameterListProgress, this, &PX4AutoPilotPlugin::parameterListProgress);
PX4ParameterLoader::loadParameterFactMetaData();
}
PX4AutoPilotPlugin::~PX4AutoPilotPlugin()
{
delete _parameterFacts;
}
QList<AutoPilotPluginManager::FullMode_t> PX4AutoPilotPlugin::getModes(void)
{
union px4_custom_mode px4_cm;
AutoPilotPluginManager::FullMode_t fullMode;
QList<AutoPilotPluginManager::FullMode_t> modeList;
px4_cm.data = 0;
px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
fullMode.baseMode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
fullMode.customMode = px4_cm.data;
modeList << fullMode;
px4_cm.data = 0;
px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL;
fullMode.baseMode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
fullMode.customMode = px4_cm.data;
modeList << fullMode;
px4_cm.data = 0;
px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL;
fullMode.baseMode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
fullMode.customMode = px4_cm.data;
modeList << fullMode;
px4_cm.data = 0;
px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
fullMode.baseMode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
fullMode.customMode = px4_cm.data;
modeList << fullMode;
px4_cm.data = 0;
px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_OFFBOARD;
fullMode.baseMode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
fullMode.customMode = px4_cm.data;
modeList << fullMode;
return modeList;
}
QString PX4AutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMode)
{
QString mode;
Q_ASSERT(baseMode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED);
if (baseMode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
union px4_custom_mode px4_mode;
px4_mode.data = customMode;
if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_MANUAL) {
mode = "|MANUAL";
} else if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) {
mode = "|ALTCTL";
} else if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) {
mode = "|POSCTL";
} else if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
mode = "|AUTO";
if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_READY) {
mode += "|READY";
} else if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF) {
mode += "|TAKEOFF";
} else if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_LOITER) {
mode += "|LOITER";
} else if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_MISSION) {
mode += "|MISSION";
} else if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_RTL) {
mode += "|RTL";
} else if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_LAND) {
mode += "|LAND";
}
} else if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) {
mode = "|OFFBOARD";
}
} else {
// use base_mode - not autopilot-specific
if (baseMode == 0) {
mode = "|PREFLIGHT";
} else if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_AUTO) {
mode = "|AUTO";
} else if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_MANUAL) {
mode = "|MANUAL";
if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_GUIDED) {
mode += "|GUIDED";
} else if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_STABILIZE) {
mode += "|STABILIZED";
}
}
}
return mode;
}
void PX4AutoPilotPlugin::clearStaticData(void)
{
PX4ParameterLoader::clearStaticData();
}
const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
{
if (_components.count() == 0 && !_incorrectParameterVersion) {
Q_ASSERT(_uas);
_airframeComponent = new AirframeComponent(_uas, this);
Q_CHECK_PTR(_airframeComponent);
_airframeComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
_radioComponent = new RadioComponent(_uas, this);
Q_CHECK_PTR(_radioComponent);
_radioComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
_flightModesComponent = new FlightModesComponent(_uas, this);
Q_CHECK_PTR(_flightModesComponent);
_flightModesComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));
_sensorsComponent = new SensorsComponent(_uas, this);
Q_CHECK_PTR(_sensorsComponent);
_sensorsComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
_powerComponent = new PowerComponent(_uas, this);
Q_CHECK_PTR(_powerComponent);
_powerComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_powerComponent));
_safetyComponent = new SafetyComponent(_uas, this);
Q_CHECK_PTR(_safetyComponent);
_safetyComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent));
}
return _components;
}
/// This will perform various checks prior to signalling that the plug in ready
void PX4AutoPilotPlugin::_pluginReadyPreChecks(void)
{
// Check for older parameter version set
// FIXME: Firmware is moving to version stamp parameter set. Once that is complete the version stamp
// should be used instead.
if (parameterExists("SENS_GYRO_XOFF")) {
_incorrectParameterVersion = true;
QGCMessageBox::warning("Setup", "This version of GroundControl can only perform vehicle setup on a newer version of firmware. "
"Please perform a Firmware Upgrade if you wish to use Vehicle Setup.");
}
_pluginReady = true;
emit pluginReadyChanged(_pluginReady);
}