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Unverified Commit 08f40035 authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #7255 from DonLakeFlyer/StreamRates 

ArduPilot: Configurable stream rate support
parents 6b641477 71765d9c
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Showing with 450 additions and 85 deletions
ChangeLog.md
View file @ 08f40035
......@@ -6,6 +6,9 @@ Note: This file only contains high level features or important fixes.
### 3.6.0 - Daily Build
* ArduPilot: Support configurable mavlink stream rates. Available from Settings/Mavlink page.
* Major rewrite and bug fix pass through Structure Scan. Previous version had such bad problems that it can no longer be supported. Plans with Structure Scan will need to be recreated. New QGC will not load old Structure Scan plans.
* Major rewrite and bug fix pass through Structure Scan. Previous version had such bad problems that it can no longer be supported. Plans with Structure Scan will need to be recreated. New QGC will not load old Structure Scan plans.
### 3.5.1 - Not yet released
......
qgroundcontrol.pro
View file @ 08f40035
......@@ -596,6 +596,7 @@ HEADERS += \
src/QmlControls/RCChannelMonitorController.h \
src/QmlControls/ScreenToolsController.h \
src/QtLocationPlugin/QMLControl/QGCMapEngineManager.h \
src/Settings/APMMavlinkStreamRateSettings.h \
src/Settings/AppSettings.h \
src/Settings/AutoConnectSettings.h \
src/Settings/BrandImageSettings.h \
......@@ -799,6 +800,7 @@ SOURCES += \
src/QmlControls/RCChannelMonitorController.cc \
src/QmlControls/ScreenToolsController.cc \
src/QtLocationPlugin/QMLControl/QGCMapEngineManager.cc \
src/Settings/APMMavlinkStreamRateSettings.cc \
src/Settings/AppSettings.cc \
src/Settings/AutoConnectSettings.cc \
src/Settings/BrandImageSettings.cc \
......
qgroundcontrol.qrc
View file @ 08f40035
......@@ -210,6 +210,7 @@
<file alias="VirtualJoystick.qml">src/FlightDisplay/VirtualJoystick.qml</file>
</qresource>
<qresource prefix="/json">
<file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>
<file alias="CameraCalc.FactMetaData.json">src/MissionManager/CameraCalc.FactMetaData.json</file>
<file alias="CameraSpec.FactMetaData.json">src/MissionManager/CameraSpec.FactMetaData.json</file>
<file alias="CorridorScan.SettingsGroup.json">src/MissionManager/CorridorScan.SettingsGroup.json</file>
......
src/FactSystem/FactGroup.cc
View file @ 08f40035
......@@ -37,7 +37,8 @@ FactGroup::FactGroup(int updateRateMsecs, QObject* parent)
void FactGroup::_loadFromJsonArray(const QJsonArray jsonArray)
{
_nameToFactMetaDataMap = FactMetaData::createMapFromJsonArray(jsonArray, this);
QMap<QString, QString> defineMap;
_nameToFactMetaDataMap = FactMetaData::createMapFromJsonArray(jsonArray, defineMap, this);
}
void FactGroup::_setupTimer()
......
src/FactSystem/FactMetaData.cc
View file @ 08f40035
......@@ -35,6 +35,9 @@ const qreal FactMetaData::UnitConsts_s::inchesToCentimeters = 2.54;
static const char* kDefaultCategory = QT_TRANSLATE_NOOP("FactMetaData", "Other");
static const char* kDefaultGroup = QT_TRANSLATE_NOOP("FactMetaData", "Misc");
const char* FactMetaData::_jsonMetaDataDefinesName = "QGC.MetaData.Defines";
const char* FactMetaData::_jsonMetaDataFactsName = "QGC.MetaData.Facts";
// Built in translations for all Facts
const FactMetaData::BuiltInTranslation_s FactMetaData::_rgBuiltInTranslations[] = {
{ "centi-degrees", "deg", FactMetaData::_centiDegreesToDegrees, FactMetaData::_degreesToCentiDegrees },
......@@ -1057,7 +1060,7 @@ int FactMetaData::decimalPlaces(void) const
return actualDecimalPlaces;
}
FactMetaData* FactMetaData::createFromJsonObject(const QJsonObject& json, QObject* metaDataParent)
FactMetaData* FactMetaData::createFromJsonObject(const QJsonObject& json, QMap<QString, QString>& defineMap, QObject* metaDataParent)
{
QString errorString;
......@@ -1098,7 +1101,7 @@ FactMetaData* FactMetaData::createFromJsonObject(const QJsonObject& json, QObjec
metaData->_name = json[_nameJsonKey].toString();
QStringList enumValues, enumStrings;
if (JsonHelper::parseEnum(json, enumStrings, enumValues, errorString, metaData->name())) {
if (JsonHelper::parseEnum(json, defineMap, enumStrings, enumValues, errorString, metaData->name())) {
for (int i=0; i<enumValues.count(); i++) {
QVariant enumVariant;
QString errorString;
......@@ -1204,6 +1207,14 @@ FactMetaData* FactMetaData::createFromJsonObject(const QJsonObject& json, QObjec
return metaData;
}
void FactMetaData::_loadJsonDefines(const QJsonObject& jsonDefinesObject, QMap<QString, QString>& defineMap)
{
for (const QString& defineName: jsonDefinesObject.keys()) {
QString mapKey = _jsonMetaDataDefinesName + QString(".") + defineName;
defineMap[mapKey] = jsonDefinesObject[defineName].toString();
}
}
QMap<QString, FactMetaData*> FactMetaData::createMapFromJsonFile(const QString& jsonFilename, QObject* metaDataParent)
{
QMap<QString, FactMetaData*> metaDataMap;
......@@ -1223,16 +1234,34 @@ QMap<QString, FactMetaData*> FactMetaData::createMapFromJsonFile(const QString&
return metaDataMap;
}
if (!doc.isArray()) {
qWarning() << "json document is not array";
QJsonArray factArray;
QMap<QString /* define name */, QString /* define value */> defineMap;
if (doc.isObject()) {
// Check for Defines/Facts format
QString errorString;
QList<JsonHelper::KeyValidateInfo> keyInfoList = {
{ FactMetaData::_jsonMetaDataDefinesName, QJsonValue::Object, true },
{ FactMetaData::_jsonMetaDataFactsName, QJsonValue::Array, true },
};
if (!JsonHelper::validateKeys(doc.object(), keyInfoList, errorString)) {
qWarning() << "Json document incorrect format:" << errorString;
return metaDataMap;
}
_loadJsonDefines(doc.object()[FactMetaData::_jsonMetaDataDefinesName].toObject(), defineMap);
factArray = doc.object()[FactMetaData::_jsonMetaDataFactsName].toArray();
} else if (doc.isArray()) {
factArray = doc.array();
} else {
qWarning() << "Json document is neither array nor object";
return metaDataMap;
}
QJsonArray jsonArray = doc.array();
return createMapFromJsonArray(jsonArray, metaDataParent);
return createMapFromJsonArray(factArray, defineMap, metaDataParent);
}
QMap<QString, FactMetaData*> FactMetaData::createMapFromJsonArray(const QJsonArray jsonArray, QObject* metaDataParent)
QMap<QString, FactMetaData*> FactMetaData::createMapFromJsonArray(const QJsonArray jsonArray, QMap<QString, QString>& defineMap, QObject* metaDataParent)
{
QMap<QString, FactMetaData*> metaDataMap;
for (int i=0; i<jsonArray.count(); i++) {
......@@ -1242,7 +1271,7 @@ QMap<QString, FactMetaData*> FactMetaData::createMapFromJsonArray(const QJsonArr
continue;
}
QJsonObject jsonObject = jsonValue.toObject();
FactMetaData* metaData = createFromJsonObject(jsonObject, metaDataParent);
FactMetaData* metaData = createFromJsonObject(jsonObject, defineMap, metaDataParent);
if (metaDataMap.contains(metaData->name())) {
qWarning() << QStringLiteral("Duplicate fact name:") << metaData->name();
delete metaData;
......
src/FactSystem/FactMetaData.h
View file @ 08f40035
......@@ -54,9 +54,9 @@ public:
FactMetaData(const FactMetaData& other, QObject* parent = nullptr);
static QMap<QString, FactMetaData*> createMapFromJsonFile(const QString& jsonFilename, QObject* metaDataParent);
static QMap<QString, FactMetaData*> createMapFromJsonArray(const QJsonArray jsonArray, QObject* metaDataParent);
static QMap<QString, FactMetaData*> createMapFromJsonArray(const QJsonArray jsonArray, QMap<QString, QString>& defineMap, QObject* metaDataParent);
static FactMetaData* createFromJsonObject(const QJsonObject& json, QObject* metaDataParent);
static FactMetaData* createFromJsonObject(const QJsonObject& json, QMap<QString, QString>& defineMap, QObject* metaDataParent);
const FactMetaData& operator=(const FactMetaData& other);
......@@ -229,6 +229,8 @@ private:
static const AppSettingsTranslation_s* _findAppSettingsDistanceUnitsTranslation(const QString& rawUnits);
static const AppSettingsTranslation_s* _findAppSettingsAreaUnitsTranslation(const QString& rawUnits);
static void _loadJsonDefines(const QJsonObject& jsonDefinesObject, QMap<QString, QString>& defineMap);
ValueType_t _type; // must be first for correct constructor init
int _decimalPlaces;
QVariant _rawDefaultValue;
......@@ -292,6 +294,9 @@ private:
static const char* _incrementJsonKey;
static const char* _hasControlJsonKey;
static const char* _qgcRebootRequiredJsonKey;
static const char* _jsonMetaDataDefinesName;
static const char* _jsonMetaDataFactsName;
};
#endif
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
View file @ 08f40035
......@@ -19,6 +19,7 @@
#include "QGCFileDownload.h"
#include "SettingsManager.h"
#include "AppSettings.h"
#include "APMMavlinkStreamRateSettings.h"
#include <QTcpSocket>
......@@ -614,13 +615,30 @@ void APMFirmwarePlugin::_adjustCalibrationMessageSeverity(mavlink_message_t* mes
void APMFirmwarePlugin::initializeStreamRates(Vehicle* vehicle)
{
vehicle->requestDataStream(MAV_DATA_STREAM_RAW_SENSORS, 2);
vehicle->requestDataStream(MAV_DATA_STREAM_EXTENDED_STATUS, 2);
vehicle->requestDataStream(MAV_DATA_STREAM_RC_CHANNELS, 2);
vehicle->requestDataStream(MAV_DATA_STREAM_POSITION, 3);
vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA1, 10);
vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA2, 10);
vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA3, 3);
APMMavlinkStreamRateSettings* streamRates = qgcApp()->toolbox()->settingsManager()->apmMavlinkStreamRateSettings();
struct StreamInfo_s {
MAV_DATA_STREAM mavStream;
int streamRate;
};
StreamInfo_s rgStreamInfo[] = {
{ MAV_DATA_STREAM_RAW_SENSORS, streamRates->streamRateRawSensors()->rawValue().toInt() },
{ MAV_DATA_STREAM_EXTENDED_STATUS, streamRates->streamRateExtendedStatus()->rawValue().toInt() },
{ MAV_DATA_STREAM_RC_CHANNELS, streamRates->streamRateRCChannels()->rawValue().toInt() },
{ MAV_DATA_STREAM_POSITION, streamRates->streamRatePosition()->rawValue().toInt() },
{ MAV_DATA_STREAM_EXTRA1, streamRates->streamRateExtra1()->rawValue().toInt() },
{ MAV_DATA_STREAM_EXTRA2, streamRates->streamRateExtra2()->rawValue().toInt() },
{ MAV_DATA_STREAM_EXTRA3, streamRates->streamRateExtra3()->rawValue().toInt() },
};
for (size_t i=0; i<sizeof(rgStreamInfo)/sizeof(rgStreamInfo[0]); i++) {
const StreamInfo_s& streamInfo = rgStreamInfo[i];
if (streamInfo.streamRate >= 0) {
vehicle->requestDataStream(streamInfo.mavStream, static_cast<uint16_t>(streamInfo.streamRate));
}
}
}
......@@ -733,22 +751,16 @@ QString APMFirmwarePlugin::missionCommandOverrides(MAV_TYPE vehicleType) const
switch (vehicleType) {
case MAV_TYPE_GENERIC:
return QStringLiteral(":/json/APM/MavCmdInfoCommon.json");
break;
case MAV_TYPE_FIXED_WING:
return QStringLiteral(":/json/APM/MavCmdInfoFixedWing.json");
break;
case MAV_TYPE_QUADROTOR:
return QStringLiteral(":/json/APM/MavCmdInfoMultiRotor.json");
break;
case MAV_TYPE_VTOL_QUADROTOR:
return QStringLiteral(":/json/APM/MavCmdInfoVTOL.json");
break;
case MAV_TYPE_SUBMARINE:
return QStringLiteral(":/json/APM/MavCmdInfoSub.json");
break;
case MAV_TYPE_GROUND_ROVER:
return QStringLiteral(":/json/APM/MavCmdInfoRover.json");
break;
default:
qWarning() << "APMFirmwarePlugin::missionCommandOverrides called with bad MAV_TYPE:" << vehicleType;
return QString();
......
src/JsonHelper.cc
View file @ 08f40035
......@@ -152,7 +152,7 @@ bool JsonHelper::validateKeyTypes(const QJsonObject& jsonObject, const QStringLi
return true;
}
bool JsonHelper::parseEnum(const QJsonObject& jsonObject, QStringList& enumStrings, QStringList& enumValues, QString& errorString, QString valueName)
bool JsonHelper::_parseEnumWorker(const QJsonObject& jsonObject, QMap<QString, QString>& defineMap, QStringList& enumStrings, QStringList& enumValues, QString& errorString, QString valueName)
{
if(jsonObject.value(_enumStringsJsonKey).isArray()) {
// "enumStrings": ["Auto" , "Manual", "Shutter Priority", "Aperture Priority"],
......@@ -162,7 +162,8 @@ bool JsonHelper::parseEnum(const QJsonObject& jsonObject, QStringList& enumStrin
}
} else {
// "enumStrings": "Auto,Manual,Shutter Priority,Aperture Priority",
enumStrings = jsonObject.value(_enumStringsJsonKey).toString().split(",", QString::SkipEmptyParts);
QString value = jsonObject.value(_enumStringsJsonKey).toString();
enumStrings = defineMap.value(value, value).split(",", QString::SkipEmptyParts);
}
if(jsonObject.value(_enumValuesJsonKey).isArray()) {
......@@ -177,7 +178,8 @@ bool JsonHelper::parseEnum(const QJsonObject& jsonObject, QStringList& enumStrin
}
} else {
// "enumValues": "0,1,2,3,4,5",
enumValues = jsonObject.value(_enumValuesJsonKey).toString().split(",", QString::SkipEmptyParts);
QString value = jsonObject.value(_enumValuesJsonKey).toString();
enumValues = defineMap.value(value, value).split(",", QString::SkipEmptyParts);
}
if (enumStrings.count() != enumValues.count()) {
......@@ -188,6 +190,17 @@ bool JsonHelper::parseEnum(const QJsonObject& jsonObject, QStringList& enumStrin
return true;
}
bool JsonHelper::parseEnum(const QJsonObject& jsonObject, QMap<QString, QString>& defineMap, QStringList& enumStrings, QStringList& enumValues, QString& errorString, QString valueName)
{
return _parseEnumWorker(jsonObject, defineMap, enumStrings, enumValues, errorString, valueName);
}
bool JsonHelper::parseEnum(const QJsonObject& jsonObject, QStringList& enumStrings, QStringList& enumValues, QString& errorString, QString valueName)
{
QMap<QString, QString> defineMap;
return _parseEnumWorker(jsonObject, defineMap, enumStrings, enumValues, errorString, valueName);
}
bool JsonHelper::isJsonFile(const QByteArray& bytes, QJsonDocument& jsonDoc, QString& errorString)
{
QJsonParseError parseError;
......
src/JsonHelper.h
View file @ 08f40035
......@@ -122,6 +122,7 @@ public:
QJsonArray& polygonArray); ///< Array to save into
static bool parseEnum(const QJsonObject& jsonObject, QStringList& enumStrings, QStringList& enumValues, QString& errorString, QString valueName = QString());
static bool parseEnum(const QJsonObject& jsonObject, QMap<QString, QString>& defineMap, QStringList& enumStrings, QStringList& enumValues, QString& errorString, QString valueName = QString());
/// Returns NaN if the value is null, or if not, the double value
static double possibleNaNJsonValue(const QJsonValue& value);
......@@ -142,6 +143,7 @@ private:
bool writeAltitude,
QJsonValue& jsonValue,
bool geoJsonFormat);
static bool _parseEnumWorker(const QJsonObject& jsonObject, QMap<QString, QString>& defineMap, QStringList& enumStrings, QStringList& enumValues, QString& errorString, QString valueName);
static const char* _enumStringsJsonKey;
static const char* _enumValuesJsonKey;
......
src/QmlControls/QGroundControlQmlGlobal.cc
View file @ 08f40035
......@@ -178,6 +178,15 @@ int QGroundControlQmlGlobal::supportedFirmwareCount()
return _firmwarePluginManager->supportedFirmwareTypes().count();
}
bool QGroundControlQmlGlobal::px4ProFirmwareSupported()
{
return _firmwarePluginManager->supportedFirmwareTypes().contains(MAV_AUTOPILOT_PX4);
}
bool QGroundControlQmlGlobal::apmFirmwareSupported()
{
return _firmwarePluginManager->supportedFirmwareTypes().contains(MAV_AUTOPILOT_ARDUPILOTMEGA);
}
bool QGroundControlQmlGlobal::linesIntersect(QPointF line1A, QPointF line1B, QPointF line2A, QPointF line2B)
{
......
src/QmlControls/QGroundControlQmlGlobal.h
View file @ 08f40035
......@@ -70,6 +70,8 @@ public:
Q_PROPERTY(bool taisyncSupported READ taisyncSupported CONSTANT)
Q_PROPERTY(int supportedFirmwareCount READ supportedFirmwareCount CONSTANT)
Q_PROPERTY(bool px4ProFirmwareSupported READ px4ProFirmwareSupported CONSTANT)
Q_PROPERTY(int apmFirmwareSupported READ apmFirmwareSupported CONSTANT)
Q_PROPERTY(qreal zOrderTopMost READ zOrderTopMost CONSTANT) ///< z order for top most items, toolbar, main window sub view
Q_PROPERTY(qreal zOrderWidgets READ zOrderWidgets CONSTANT) ///< z order value to widgets, for example: zoom controls, hud widgetss
......@@ -180,6 +182,8 @@ public:
int mavlinkSystemID () { return _toolbox->mavlinkProtocol()->getSystemId(); }
int supportedFirmwareCount ();
bool px4ProFirmwareSupported ();
bool apmFirmwareSupported ();
bool skipSetupPage () { return _skipSetupPage; }
void setSkipSetupPage (bool skip);
......
src/Settings/APMMavlinkStreamRate.SettingsGroup.json 0 → 100644
View file @ 08f40035
{
"QGC.MetaData.Defines": {
"StreamRateEnumStrings": "Controlled By Vehicle,0 hz,1 hz,2 hz,3 hz,4 hz,5 hz,6 hz,7 hz,8 hz,9 hz,10 hz,50 hz,100 hz",
"StreamRateEnumValues": "-1,0,1,2,3,4,5,6,7,8,9,10,50,100"
},
"QGC.MetaData.Facts": [
{
"name": "streamRateRawSensors",
"shortDescription": "Stream rate for MAVLink Raw Sensors telemetry stream.",
"type": "int32",
"enumStrings": "QGC.MetaData.Defines.StreamRateEnumStrings",
"enumValues": "QGC.MetaData.Defines.StreamRateEnumValues",
"defaultValue": 2
},
{
"name": "streamRateExtendedStatus",
"shortDescription": "Stream rate for MAVLink Extended Status telemetry stream.",
"type": "int32",
"enumStrings": "QGC.MetaData.Defines.StreamRateEnumStrings",
"enumValues": "QGC.MetaData.Defines.StreamRateEnumValues",
"defaultValue": 2
},
{
"name": "streamRateRCChannels",
"shortDescription": "Stream rate for MAVLink RC Channels telemetry stream.",
"type": "int32",
"enumStrings": "QGC.MetaData.Defines.StreamRateEnumStrings",
"enumValues": "QGC.MetaData.Defines.StreamRateEnumValues",
"defaultValue": 2
},
{
"name": "streamRatePosition",
"shortDescription": "Stream rate for MAVLink Position telemetry stream.",
"type": "int32",
"enumStrings": "QGC.MetaData.Defines.StreamRateEnumStrings",
"enumValues": "QGC.MetaData.Defines.StreamRateEnumValues",
"defaultValue": 3
},
{
"name": "streamRateExtra1",
"shortDescription": "Stream rate for MAVLink Extra1 telemetry stream.",
"type": "int32",
"enumStrings": "QGC.MetaData.Defines.StreamRateEnumStrings",
"enumValues": "QGC.MetaData.Defines.StreamRateEnumValues",
"defaultValue": 10
},
{
"name": "streamRateExtra2",
"shortDescription": "Stream rate for MAVLink Extra2 telemetry stream.",
"type": "int32",
"enumStrings": "QGC.MetaData.Defines.StreamRateEnumStrings",
"enumValues": "QGC.MetaData.Defines.StreamRateEnumValues",
"defaultValue": 10
},
{
"name": "streamRateExtra3",
"shortDescription": "Stream rate for MAVLink Extra3 telemetry stream.",
"type": "int32",
"enumStrings": "QGC.MetaData.Defines.StreamRateEnumStrings",
"enumValues": "QGC.MetaData.Defines.StreamRateEnumValues",
"defaultValue": 3
}
]
}
src/Settings/APMMavlinkStreamRateSettings.cc 0 → 100644
View file @ 08f40035
/****************************************************************************
*
* (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.
*
****************************************************************************/
#include "APMMavlinkStreamRateSettings.h"
#include "QGCApplication.h"
#include <QQmlEngine>
#include <QtQml>
DECLARE_SETTINGGROUP(APMMavlinkStreamRate, "APMMavlinkStreamRate")
{
QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
qmlRegisterUncreatableType<APMMavlinkStreamRateSettings>("QGroundControl.SettingsManager", 1, 0, "APMMavlinkStreamRateSettings", "Reference only");
connect(streamRateRawSensors(), &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateRawSensors);
connect(streamRateExtendedStatus(), &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateExtendedStatus);
connect(streamRateRCChannels(), &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateRCChannels);
connect(streamRatePosition(), &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRatePosition);
connect(streamRateExtra1(), &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateExtra1);
connect(streamRateExtra2(), &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateExtra2);
connect(streamRateExtra3(), &Fact::rawValueChanged, this, &APMMavlinkStreamRateSettings::_updateStreamRateExtra3);
}
DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateRawSensors)
DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateExtendedStatus)
DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateRCChannels)
DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRatePosition)
DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateExtra1)
DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateExtra2)
DECLARE_SETTINGSFACT(APMMavlinkStreamRateSettings, streamRateExtra3)
void APMMavlinkStreamRateSettings::_updateStreamRateWorker(MAV_DATA_STREAM mavStream, QVariant rateVar)
{
Vehicle* activeVehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle();
if (activeVehicle) {
int streamRate = rateVar.toInt();
if (streamRate >= 0) {
activeVehicle->requestDataStream(mavStream, static_cast<uint16_t>(streamRate));
}
}
}
void APMMavlinkStreamRateSettings::_updateStreamRateRawSensors(QVariant value)
{
_updateStreamRateWorker(MAV_DATA_STREAM_RAW_SENSORS, value);
}
void APMMavlinkStreamRateSettings::_updateStreamRateExtendedStatus(QVariant value)
{
_updateStreamRateWorker(MAV_DATA_STREAM_EXTENDED_STATUS, value);
}
void APMMavlinkStreamRateSettings::_updateStreamRateRCChannels(QVariant value)
{
_updateStreamRateWorker(MAV_DATA_STREAM_RC_CHANNELS, value);
}
void APMMavlinkStreamRateSettings::_updateStreamRatePosition(QVariant value)
{
_updateStreamRateWorker(MAV_DATA_STREAM_POSITION, value);
}
void APMMavlinkStreamRateSettings::_updateStreamRateExtra1(QVariant value)
{
_updateStreamRateWorker(MAV_DATA_STREAM_EXTRA1, value);
}
void APMMavlinkStreamRateSettings::_updateStreamRateExtra2(QVariant value)
{
_updateStreamRateWorker(MAV_DATA_STREAM_EXTRA2, value);
}
void APMMavlinkStreamRateSettings::_updateStreamRateExtra3(QVariant value)
{
_updateStreamRateWorker(MAV_DATA_STREAM_EXTRA3, value);
}
src/Settings/APMMavlinkStreamRateSettings.h 0 → 100644
View file @ 08f40035
/****************************************************************************
*
* (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.
*
****************************************************************************/
#pragma once
#include "SettingsGroup.h"
#include "QGCMAVLink.h"
class APMMavlinkStreamRateSettings : public SettingsGroup
{
Q_OBJECT
public:
APMMavlinkStreamRateSettings(QObject* parent = nullptr);
DEFINE_SETTING_NAME_GROUP()
DEFINE_SETTINGFACT(streamRateRawSensors)
DEFINE_SETTINGFACT(streamRateExtendedStatus)
DEFINE_SETTINGFACT(streamRateRCChannels)
DEFINE_SETTINGFACT(streamRatePosition)
DEFINE_SETTINGFACT(streamRateExtra1)
DEFINE_SETTINGFACT(streamRateExtra2)
DEFINE_SETTINGFACT(streamRateExtra3)
private slots:
void _updateStreamRateRawSensors (QVariant value);
void _updateStreamRateExtendedStatus(QVariant value);
void _updateStreamRateRCChannels (QVariant value);
void _updateStreamRatePosition (QVariant value);
void _updateStreamRateExtra1 (QVariant value);
void _updateStreamRateExtra2 (QVariant value);
void _updateStreamRateExtra3 (QVariant value);
private:
void _updateStreamRateWorker(MAV_DATA_STREAM mavStream, QVariant rateVar);
};
src/Settings/App.SettingsGroup.json
View file @ 08f40035
......@@ -201,10 +201,11 @@
"defaultValue": 0
},
{
"name": "apmStartMavlinkStreams",
"shortDescription": "Request start of MAVLink telemetry streams (ArduPilot only)",
"type": "bool",
"defaultValue": true
"name": "apmStartMavlinkStreams",
"shortDescription": "Request start of MAVLink telemetry streams (ArduPilot only)",
"type": "bool",
"defaultValue": true,
"qgcRebootRequired": true
},
{
"name": "enableTaisync",
......
src/Settings/SettingsManager.cc
View file @ 08f40035
......@@ -17,15 +17,16 @@ SettingsManager::SettingsManager(QGCApplication* app, QGCToolbox* toolbox)
#if defined(QGC_AIRMAP_ENABLED)
, _airMapSettings (nullptr)
#endif
, _appSettings (nullptr)
, _unitsSettings (nullptr)
, _autoConnectSettings (nullptr)
, _videoSettings (nullptr)
, _flightMapSettings (nullptr)
, _rtkSettings (nullptr)
, _flyViewSettings (nullptr)
, _planViewSettings (nullptr)
, _brandImageSettings (nullptr)
, _appSettings (nullptr)
, _unitsSettings (nullptr)
, _autoConnectSettings (nullptr)
, _videoSettings (nullptr)
, _flightMapSettings (nullptr)
, _rtkSettings (nullptr)
, _flyViewSettings (nullptr)
, _planViewSettings (nullptr)
, _brandImageSettings (nullptr)
, _apmMavlinkStreamRateSettings (nullptr)
{
}
......@@ -36,16 +37,17 @@ void SettingsManager::setToolbox(QGCToolbox *toolbox)
QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
qmlRegisterUncreatableType<SettingsManager>("QGroundControl.SettingsManager", 1, 0, "SettingsManager", "Reference only");
_unitsSettings = new UnitsSettings (this); // Must be first since AppSettings references it
_appSettings = new AppSettings (this);
_autoConnectSettings = new AutoConnectSettings (this);
_videoSettings = new VideoSettings (this);
_flightMapSettings = new FlightMapSettings (this);
_rtkSettings = new RTKSettings (this);
_flyViewSettings = new FlyViewSettings (this);
_planViewSettings = new PlanViewSettings (this);
_brandImageSettings = new BrandImageSettings (this);
_unitsSettings = new UnitsSettings (this); // Must be first since AppSettings references it
_appSettings = new AppSettings (this);
_autoConnectSettings = new AutoConnectSettings (this);
_videoSettings = new VideoSettings (this);
_flightMapSettings = new FlightMapSettings (this);
_rtkSettings = new RTKSettings (this);
_flyViewSettings = new FlyViewSettings (this);
_planViewSettings = new PlanViewSettings (this);
_brandImageSettings = new BrandImageSettings (this);
_apmMavlinkStreamRateSettings = new APMMavlinkStreamRateSettings (this);
#if defined(QGC_AIRMAP_ENABLED)
_airMapSettings = new AirMapSettings (this);
_airMapSettings = new AirMapSettings (this);
#endif
}
src/Settings/SettingsManager.h
View file @ 08f40035
......@@ -23,6 +23,7 @@
#include "FlyViewSettings.h"
#include "PlanViewSettings.h"
#include "BrandImageSettings.h"
#include "APMMavlinkStreamRateSettings.h"
#if defined(QGC_AIRMAP_ENABLED)
#include "AirMapSettings.h"
#endif
......@@ -37,17 +38,18 @@ public:
SettingsManager(QGCApplication* app, QGCToolbox* toolbox);
#if defined(QGC_AIRMAP_ENABLED)
Q_PROPERTY(QObject* airMapSettings READ airMapSettings CONSTANT)
Q_PROPERTY(QObject* airMapSettings READ airMapSettings CONSTANT)
#endif
Q_PROPERTY(QObject* appSettings READ appSettings CONSTANT)
Q_PROPERTY(QObject* unitsSettings READ unitsSettings CONSTANT)
Q_PROPERTY(QObject* autoConnectSettings READ autoConnectSettings CONSTANT)
Q_PROPERTY(QObject* videoSettings READ videoSettings CONSTANT)
Q_PROPERTY(QObject* flightMapSettings READ flightMapSettings CONSTANT)
Q_PROPERTY(QObject* rtkSettings READ rtkSettings CONSTANT)
Q_PROPERTY(QObject* flyViewSettings READ flyViewSettings CONSTANT)
Q_PROPERTY(QObject* planViewSettings READ planViewSettings CONSTANT)
Q_PROPERTY(QObject* brandImageSettings READ brandImageSettings CONSTANT)
Q_PROPERTY(QObject* appSettings READ appSettings CONSTANT)
Q_PROPERTY(QObject* unitsSettings READ unitsSettings CONSTANT)
Q_PROPERTY(QObject* autoConnectSettings READ autoConnectSettings CONSTANT)
Q_PROPERTY(QObject* videoSettings READ videoSettings CONSTANT)
Q_PROPERTY(QObject* flightMapSettings READ flightMapSettings CONSTANT)
Q_PROPERTY(QObject* rtkSettings READ rtkSettings CONSTANT)
Q_PROPERTY(QObject* flyViewSettings READ flyViewSettings CONSTANT)
Q_PROPERTY(QObject* planViewSettings READ planViewSettings CONSTANT)
Q_PROPERTY(QObject* brandImageSettings READ brandImageSettings CONSTANT)
Q_PROPERTY(QObject* apmMavlinkStreamRateSettings READ apmMavlinkStreamRateSettings CONSTANT)
// Override from QGCTool
virtual void setToolbox(QGCToolbox *toolbox);
......@@ -55,29 +57,31 @@ public:
#if defined(QGC_AIRMAP_ENABLED)
AirMapSettings* airMapSettings (void) { return _airMapSettings; }
#endif
AppSettings* appSettings (void) { return _appSettings; }
UnitsSettings* unitsSettings (void) { return _unitsSettings; }
AutoConnectSettings* autoConnectSettings (void) { return _autoConnectSettings; }
VideoSettings* videoSettings (void) { return _videoSettings; }
FlightMapSettings* flightMapSettings (void) { return _flightMapSettings; }
RTKSettings* rtkSettings (void) { return _rtkSettings; }
FlyViewSettings* flyViewSettings (void) { return _flyViewSettings; }
PlanViewSettings* planViewSettings (void) { return _planViewSettings; }
BrandImageSettings* brandImageSettings (void) { return _brandImageSettings; }
AppSettings* appSettings (void) { return _appSettings; }
UnitsSettings* unitsSettings (void) { return _unitsSettings; }
AutoConnectSettings* autoConnectSettings (void) { return _autoConnectSettings; }
VideoSettings* videoSettings (void) { return _videoSettings; }
FlightMapSettings* flightMapSettings (void) { return _flightMapSettings; }
RTKSettings* rtkSettings (void) { return _rtkSettings; }
FlyViewSettings* flyViewSettings (void) { return _flyViewSettings; }
PlanViewSettings* planViewSettings (void) { return _planViewSettings; }
BrandImageSettings* brandImageSettings (void) { return _brandImageSettings; }
APMMavlinkStreamRateSettings* apmMavlinkStreamRateSettings(void) { return _apmMavlinkStreamRateSettings; }
private:
#if defined(QGC_AIRMAP_ENABLED)
AirMapSettings* _airMapSettings;
#endif
AppSettings* _appSettings;
UnitsSettings* _unitsSettings;
AutoConnectSettings* _autoConnectSettings;
VideoSettings* _videoSettings;
FlightMapSettings* _flightMapSettings;
RTKSettings* _rtkSettings;
FlyViewSettings* _flyViewSettings;
PlanViewSettings* _planViewSettings;
BrandImageSettings* _brandImageSettings;
AppSettings* _appSettings;
UnitsSettings* _unitsSettings;
AutoConnectSettings* _autoConnectSettings;
VideoSettings* _videoSettings;
FlightMapSettings* _flightMapSettings;
RTKSettings* _rtkSettings;
FlyViewSettings* _flyViewSettings;
PlanViewSettings* _planViewSettings;
BrandImageSettings* _brandImageSettings;
APMMavlinkStreamRateSettings* _apmMavlinkStreamRateSettings;
};
#endif
src/ui/preferences/MavlinkSettings.qml
View file @ 08f40035
......@@ -12,6 +12,7 @@ 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 1.0
import QGroundControl.FactSystem 1.0
......@@ -33,6 +34,7 @@ Rectangle {
property bool _uploadedSelected: false
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
property var _showMavlinkLog: QGroundControl.corePlugin.options.showMavlinkLogOptions
property bool _showAPMStreamRates: QGroundControl.apmFirmwareSupported && QGroundControl.settingsManager.apmMavlinkStreamRateSettings.visible
QGCPalette { id: qgcPal }
......@@ -143,11 +145,6 @@ Rectangle {
}
}
FactCheckBox {
text: fact.shortDescription
fact: QGroundControl.settingsManager.appSettings.apmStartMavlinkStreams
}
QGCCheckBox {
text: qsTr("Only accept MAVs with same protocol version")
checked: QGroundControl.isVersionCheckEnabled
......@@ -158,6 +155,97 @@ Rectangle {
}
}
//-----------------------------------------------------------------
//-- Stream Rates
Item {
id: apmStreamRatesLabel
width: __mavlinkRoot.width * 0.8
height: streamRatesLabel.height
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
visible: _showAPMStreamRates
QGCLabel {
id: streamRatesLabel
text: qsTr("Telemetry Stream Rates (ArduPilot Only)")
font.family: ScreenTools.demiboldFontFamily
}
}
Rectangle {
height: streamRatesColumn.height + (ScreenTools.defaultFontPixelHeight * 2)
width: __mavlinkRoot.width * 0.8
color: qgcPal.windowShade
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
visible: _showAPMStreamRates
ColumnLayout {
id: streamRatesColumn
spacing: ScreenTools.defaultFontPixelHeight / 2
anchors.centerIn: parent
property bool allStreamsControlledByVehicle: !QGroundControl.settingsManager.appSettings.apmStartMavlinkStreams.rawValue
QGCCheckBox {
text: qsTr("All Streams Controlled By Vehicle Settings")
checked: streamRatesColumn.allStreamsControlledByVehicle
onClicked: QGroundControl.settingsManager.appSettings.apmStartMavlinkStreams.rawValue = !checked
}
GridLayout {
columns: 2
enabled: !streamRatesColumn.allStreamsControlledByVehicle
QGCLabel { text: qsTr("Raw Sensors") }
FactComboBox {
fact: QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateRawSensors
indexModel: false
Layout.preferredWidth: _valueWidth
}
QGCLabel { text: qsTr("Extended Status") }
FactComboBox {
fact: QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateExtendedStatus
indexModel: false
Layout.preferredWidth: _valueWidth
}
QGCLabel { text: qsTr("RC Channel") }
FactComboBox {
fact: QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateRCChannels
indexModel: false
Layout.preferredWidth: _valueWidth
}
QGCLabel { text: qsTr("Position") }
FactComboBox {
fact: QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRatePosition
indexModel: false
Layout.preferredWidth: _valueWidth
}
QGCLabel { text: qsTr("Extra 1") }
FactComboBox {
fact: QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateExtra1
indexModel: false
Layout.preferredWidth: _valueWidth
}
QGCLabel { text: qsTr("Extra 2") }
FactComboBox {
fact: QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateExtra2
indexModel: false
Layout.preferredWidth: _valueWidth
}
QGCLabel { text: qsTr("Extra 3") }
FactComboBox {
fact: QGroundControl.settingsManager.apmMavlinkStreamRateSettings.streamRateExtra3
indexModel: false
Layout.preferredWidth: _valueWidth
}
}
}
}
//-----------------------------------------------------------------
//-- Mavlink Status
Item {
width: __mavlinkRoot.width * 0.8
......@@ -253,7 +341,7 @@ Rectangle {
visible: _showMavlinkLog
QGCLabel {
id: mavlogLabel
text: qsTr("MAVLink 2.0 Logging (PX4 Firmware Only)")
text: qsTr("MAVLink 2.0 Logging (PX4 Pro Only)")
font.family: ScreenTools.demiboldFontFamily
}
}
......@@ -315,7 +403,7 @@ Rectangle {
visible: _showMavlinkLog
QGCLabel {
id: logLabel
text: qsTr("MAVLink 2.0 Log Uploads (PX4 Firmware Only)")
text: qsTr("MAVLink 2.0 Log Uploads (PX4 Pro Only)")
font.family: ScreenTools.demiboldFontFamily
}
}
......
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