diff --git a/qgcresources.qrc b/qgcresources.qrc index 3dba5b6195ce657b3115e59a4c9e179bde94bd07..2bab64496172536bd32116a12e1d6c8a3166844c 100644 --- a/qgcresources.qrc +++ b/qgcresources.qrc @@ -175,7 +175,7 @@ resources/TrashDelete.svg resources/XDelete.svg resources/XDeleteBlack.svg - + resources/firmware/px4.png resources/firmware/apm.png @@ -266,6 +266,7 @@ src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.4.xml src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml + src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc index f4a0015ce9f469c804240a42d69b1d39290967b4..48c46f62aab2bb0fc162689b4d96dbabab9d6995 100644 --- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc +++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc @@ -1,24 +1,24 @@ /*===================================================================== QGroundControl Open Source Ground Control Station - + (c) 2009 - 2015 QGROUNDCONTROL PROJECT - + 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 . - + ======================================================================*/ /// @file @@ -37,18 +37,20 @@ static const QRegExp APM_COPTER_REXP("^(ArduCopter|APM:Copter)"); static const QRegExp APM_SOLO_REXP("^(APM:Copter solo-)"); static const QRegExp APM_PLANE_REXP("^(ArduPlane|APM:Plane)"); static const QRegExp APM_ROVER_REXP("^(ArduRover|APM:Rover)"); +static const QRegExp APM_SUB_REXP("^(ArduSub|APM:Sub)"); static const QRegExp APM_PX4NUTTX_REXP("^PX4: .*NuttX: .*"); static const QRegExp APM_FRAME_REXP("^Frame: "); static const QRegExp APM_SYSID_REXP("^PX4v2 "); // Regex to parse version text coming from APM, gives out firmware type, major, minor and patch level numbers -static const QRegExp VERSION_REXP("^(APM:Copter|APM:Plane|APM:Rover|ArduCopter|ArduPlane|ArduRover) +[vV](\\d*)\\.*(\\d*)*\\.*(\\d*)*"); +static const QRegExp VERSION_REXP("^(APM:Copter|APM:Plane|APM:Rover|APM:Sub|ArduCopter|ArduPlane|ArduRover|ArduSub) +[vV](\\d*)\\.*(\\d*)*\\.*(\\d*)*"); // minimum firmware versions that don't suffer from mavlink severity inversion bug. // https://github.com/diydrones/apm_planner/issues/788 static const QString MIN_SOLO_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Copter solo-1.2.0"); static const QString MIN_COPTER_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Copter V3.4.0"); static const QString MIN_PLANE_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Plane V3.4.0"); +static const QString MIN_SUB_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Sub V3.4.0"); static const QString MIN_ROVER_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Rover V2.6.0"); const char* APMFirmwarePlugin::_artooIP = "10.1.1.1"; ///< IP address of ARTOO controller @@ -161,12 +163,12 @@ bool APMFirmwarePlugin::isCapable(FirmwareCapabilities capabilities) QList APMFirmwarePlugin::componentsForVehicle(AutoPilotPlugin* vehicle) { Q_UNUSED(vehicle); - + return QList(); } QStringList APMFirmwarePlugin::flightModes(void) -{ +{ QStringList flightModesList; foreach (const APMCustomMode& customMode, _supportedModes) { if (customMode.canBeSet()) { @@ -319,7 +321,7 @@ bool APMFirmwarePlugin::_handleStatusText(Vehicle* vehicle, mavlink_message_t* m if (!messageText.contains(APM_SOLO_REXP)) { // if don't know firmwareVersion yet, try and see if this message contains it - if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP)) { + if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP) || messageText.contains(APM_SUB_REXP)) { // found version string APMFirmwareVersion firmwareVersion(messageText); _textSeverityAdjustmentNeeded = _isTextSeverityAdjustmentNeeded(firmwareVersion); @@ -376,7 +378,7 @@ bool APMFirmwarePlugin::_handleStatusText(Vehicle* vehicle, mavlink_message_t* m // The following messages are incorrectly labeled as warning message. // Fixed in newer firmware (unreleased at this point), but still in older firmware. - if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP) || + if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP) || messageText.contains(APM_SUB_REXP) || messageText.contains(APM_PX4NUTTX_REXP) || messageText.contains(APM_FRAME_REXP) || messageText.contains(APM_SYSID_REXP)) { _setInfoSeverity(message); } @@ -491,6 +493,10 @@ bool APMFirmwarePlugin::_isTextSeverityAdjustmentNeeded(const APMFirmwareVersion if (firmwareVersion < APMFirmwareVersion(MIN_ROVER_VERSION_WITH_CORRECT_SEVERITY_MSGS)) { adjustmentNeeded = true; } + } else if (firmwareVersion.vehicleType().contains(APM_SUB_REXP)) { + if (firmwareVersion < APMFirmwareVersion(MIN_SUB_VERSION_WITH_CORRECT_SEVERITY_MSGS)) { + adjustmentNeeded = true; + } } return adjustmentNeeded; @@ -654,8 +660,9 @@ QString APMFirmwarePlugin::getParameterMetaDataFile(Vehicle* vehicle) } case MAV_TYPE_GROUND_ROVER: case MAV_TYPE_SURFACE_BOAT: - case MAV_TYPE_SUBMARINE: return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml"); + case MAV_TYPE_SUBMARINE: + return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml"); default: return QString(); } diff --git a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml new file mode 100644 index 0000000000000000000000000000000000000000..dd3f193cf6fb2e1bab41555b9d7905fbd3585a37 --- /dev/null +++ b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml @@ -0,0 +1,6038 @@ + + + + + + +-100 0 + + +True + + +True + +ArduPlane +AntennaTracker +Copter +Rover + + + +1 255 + + + +Mission Planner and DroidPlanner + AP Planner 2 + + + + +Disabled +Enabled + + + +0 10 +.5 +Hz + + +0.0 1000.0 +10 +Centimeters + + +0.0 500.0 +10 + + + +None +FeedbackFromMid + + + +0 10 +1 +seconds + + +0:Roll,1:Pitch,2:Yaw + +None +Roll +Pitch +Yaw + + + +0 8000 +1 +Centimeters + + +0.5 10.0 + +Disabled +Shallow +Steep + +.1 + + +0 2000 +50 +cm/s + + +0.01 2.0 +0.01 + + + +Disabled +Land +RTL + + + +0.1 +Volts + + +50 +mAh + + + +Disabled +Enabled always RTL +Enabled Continue with Mission in Auto Mode + + + +100 900 + + + +Disabled +Enabled + + + + +Disabled +Mode1 +Mode2 +Mode1+2 +Mode3 +Mode1+3 +Mode2+3 +Mode1+2+3 +Mode4 +Mode1+4 +Mode2+4 +Mode1+2+4 +Mode3+4 +Mode1+3+4 +Mode2+3+4 +Mode1+2+3+4 +Mode5 +Mode1+5 +Mode2+5 +Mode1+2+5 +Mode3+5 +Mode1+3+5 +Mode2+3+5 +Mode1+2+3+5 +Mode4+5 +Mode1+4+5 +Mode2+4+5 +Mode1+2+4+5 +Mode3+4+5 +Mode1+3+4+5 +Mode2+3+4+5 +Mode1+2+3+4+5 +Mode6 +Mode1+6 +Mode2+6 +Mode1+2+6 +Mode3+6 +Mode1+3+6 +Mode2+3+6 +Mode1+2+3+6 +Mode4+6 +Mode1+4+6 +Mode2+4+6 +Mode1+2+4+6 +Mode3+4+6 +Mode1+3+4+6 +Mode2+3+4+6 +Mode1+2+3+4+6 +Mode5+6 +Mode1+5+6 +Mode2+5+6 +Mode1+2+5+6 +Mode3+5+6 +Mode1+3+5+6 +Mode2+3+5+6 +Mode1+2+3+5+6 +Mode4+5+6 +Mode1+4+5+6 +Mode2+4+5+6 +Mode1+2+4+5+6 +Mode3+4+5+6 +Mode1+3+4+5+6 +Mode2+3+4+5+6 +Mode1+2+3+4+5+6 + + + +-1 1000 +1 +Centimeters + + +0 3000 +10 +Centimeters + + + +Never change yaw +Face next waypoint +Face next waypoint except RTL +Face along GPS course + + + +0 60000 +1000 +ms + + +30 200 +10 +cm/s + + +0 500 +10 +cm/s + + +50 500 +10 +Centimeters/Second + + +50 500 +10 +cm/s/s + + +0 300 +1 +Percent*10 + + + +Disabled +Enabled always RTL +Enabled Continue with Mission in Auto Mode +Enabled always LAND + + + +925 1100 +1 +pwm + + +300 700 +10 +Percent*10 + + +0 300 +1 +pwm + + + +Stabilize +Acro +AltHold +Auto +Guided +Loiter +RTL +Circle +Land +Drift +Sport +Flip +AutoTune +PosHold +Brake +Throw + + + + +Stabilize +Acro +AltHold +Auto +Guided +Loiter +RTL +Circle +Land +Drift +Sport +Flip +AutoTune +PosHold +Brake +Throw + + + + +Stabilize +Acro +AltHold +Auto +Guided +Loiter +RTL +Circle +Land +Drift +Sport +Flip +AutoTune +PosHold +Brake +Throw + + + + +Stabilize +Acro +AltHold +Auto +Guided +Loiter +RTL +Circle +Land +Drift +Sport +Flip +AutoTune +PosHold +Brake +Throw + + + + 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+Velocity XY kP +Velocity XY kI +WP Speed +Acro RollPitch kP +Acro Yaw kP +Heli Ext Gyro +OF Loiter kP +OF Loiter kI +OF Loiter kD +Declination +Circle Rate +RangeFinder Gain +Rate Pitch kP +Rate Pitch kI +Rate Pitch kD +Rate Roll kP +Rate Roll kI +Rate Roll kD +Rate Pitch FF +Rate Roll FF +Rate Yaw FF + + + +0 32767 + + +0 32767 + + + +Plus +X +V +H +V-Tail +A-Tail +Y6B (New) + + + + +Do Nothing +Flip +Simple Mode +RTL +Save Trim +Save WP +Camera Trigger +RangeFinder +Fence +ResetToArmedYaw +Super Simple Mode +Acro Trainer +Auto +AutoTune +Land +EPM +Parachute Enable +Parachute Release +Parachute 3pos +Auto Mission Reset +AttCon Feed Forward +AttCon Accel Limits +Retract Mount +Relay On/Off +Relay2 On/Off +Relay3 On/Off +Relay4 On/Off +Landing Gear +Lost Copter Sound +Motor Emergency Stop +Motor Interlock +Brake +Throw + + + + +Do Nothing +Flip +Simple Mode +RTL +Save Trim +Save WP +Camera Trigger +RangeFinder +Fence +ResetToArmedYaw +Super Simple Mode +Acro Trainer +Auto +AutoTune 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+ + + + +None +PX4-PWM + + + +0.001 + + +1 + + +1 + + +0.1 + + + +None +PX4-PWM + + + +0.001 + + + + + +Disabled +Enabled + + + + +None +Loiter +LoiterAndDescend + + + + + + +Off +Low +Medium +High + + + + +Disable +Enable + + + + diff --git a/src/FirmwarePlugin/APM/APMParameterMetaData.cc b/src/FirmwarePlugin/APM/APMParameterMetaData.cc index 27bc98b220d38b7d812b2ef38eb5562ae07ed04e..9d204a214d47d1fe5ba7804ed69cc6ef6db21f0b 100644 --- a/src/FirmwarePlugin/APM/APMParameterMetaData.cc +++ b/src/FirmwarePlugin/APM/APMParameterMetaData.cc @@ -1,24 +1,24 @@ /*===================================================================== - + QGroundControl Open Source Ground Control Station - + (c) 2009 - 2014 QGROUNDCONTROL PROJECT - + 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 . - + ======================================================================*/ #include "APMParameterMetaData.h" @@ -69,9 +69,9 @@ QVariant APMParameterMetaData::_stringToTypedVariant(const QString& string, convertTo = QVariant::Double; break; } - + *convertOk = var.convert(convertTo); - + return var; } @@ -86,7 +86,6 @@ QString APMParameterMetaData::mavTypeToString(MAV_TYPE vehicleTypeEnum) case MAV_TYPE_QUADROTOR: case MAV_TYPE_COAXIAL: case MAV_TYPE_HELICOPTER: - case MAV_TYPE_SUBMARINE: case MAV_TYPE_HEXAROTOR: case MAV_TYPE_OCTOROTOR: case MAV_TYPE_TRICOPTER: @@ -104,6 +103,9 @@ QString APMParameterMetaData::mavTypeToString(MAV_TYPE vehicleTypeEnum) case MAV_TYPE_SURFACE_BOAT: vehicleName = "ArduRover"; break; + case MAV_TYPE_SUBMARINE: + vehicleName = "ArduSub"; + break; case MAV_TYPE_FLAPPING_WING: case MAV_TYPE_KITE: case MAV_TYPE_ONBOARD_CONTROLLER: @@ -129,7 +131,7 @@ void APMParameterMetaData::loadParameterFactMetaDataFile(const QString& metaData } _parameterMetaDataLoaded = true; - QRegExp parameterCategories = QRegExp("ArduCopter|ArduPlane|APMrover2|AntennaTracker"); + QRegExp parameterCategories = QRegExp("ArduCopter|ArduPlane|APMrover2|ArduSub|AntennaTracker"); QString currentCategory; qCDebug(APMParameterMetaDataLog) << "Loading parameter meta data:" << metaDataFile;