Motor Setup/Testing support

qgcresources.qrc

@@ -63,6 +63,7 @@
         <file alias="LandModeCopter.svg">src/AutoPilotPlugins/PX4/Images/LandModeCopter.svg</file>
         <file alias="LowBattery.svg">src/AutoPilotPlugins/PX4/Images/LowBattery.svg</file>
         <file alias="LowBatteryLight.svg">src/AutoPilotPlugins/PX4/Images/LowBatteryLight.svg</file>
+        <file alias="MotorComponentIcon.png">src/AutoPilotPlugins/Common/MotorComponentIcon.png</file>
         <file alias="PowerComponentBattery_01cell.svg">src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_01cell.svg</file>
         <file alias="PowerComponentBattery_02cell.svg">src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_02cell.svg</file>
         <file alias="PowerComponentBattery_03cell.svg">src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_03cell.svg</file>

qgroundcontrol.pro

@@ -638,6 +638,7 @@ HEADERS+= \
     src/AutoPilotPlugins/APM/APMSensorsComponent.h \
     src/AutoPilotPlugins/APM/APMSensorsComponentController.h \
     src/AutoPilotPlugins/APM/APMTuningComponent.h \
+    src/AutoPilotPlugins/Common/MotorComponent.h \
     src/AutoPilotPlugins/Common/RadioComponentController.h \
     src/AutoPilotPlugins/Common/ESP8266ComponentController.h \
     src/AutoPilotPlugins/Common/ESP8266Component.h \
@@ -696,6 +697,7 @@ SOURCES += \
     src/AutoPilotPlugins/APM/APMSensorsComponent.cc \
     src/AutoPilotPlugins/APM/APMSensorsComponentController.cc \
     src/AutoPilotPlugins/APM/APMTuningComponent.cc \
+    src/AutoPilotPlugins/Common/MotorComponent.cc \
     src/AutoPilotPlugins/Common/RadioComponentController.cc \
     src/AutoPilotPlugins/Common/ESP8266ComponentController.cc \
     src/AutoPilotPlugins/Common/ESP8266Component.cc \

qgroundcontrol.qrc

@@ -39,6 +39,7 @@
         <file alias="MainWindowNative.qml">src/ui/MainWindowNative.qml</file>
         <file alias="MainWindowLeftPanel.qml">src/ui/MainWindowLeftPanel.qml</file>
         <file alias="MissionEditor.qml">src/MissionEditor/MissionEditor.qml</file>
+        <file alias="MotorComponent.qml">src/AutoPilotPlugins/Common/MotorComponent.qml</file>
         <file alias="PowerComponent.qml">src/AutoPilotPlugins/PX4/PowerComponent.qml</file>
         <file alias="PowerComponentSummary.qml">src/AutoPilotPlugins/PX4/PowerComponentSummary.qml</file>
         <file alias="PX4FlowSensor.qml">src/VehicleSetup/PX4FlowSensor.qml</file>
@@ -55,6 +56,8 @@
         <file alias="QGroundControl/Controls/MissionItemIndexLabel.qml">src/QmlControls/MissionItemIndexLabel.qml</file>
         <file alias="QGroundControl/Controls/MissionItemStatus.qml">src/MissionEditor/MissionItemStatus.qml</file>
         <file alias="QGroundControl/Controls/MissionCommandDialog.qml">src/QmlControls/MissionCommandDialog.qml</file>
+        <file alias="QGroundControl/Controls/MultiRotorMotorDisplay.qml">src/QmlControls/MultiRotorMotorDisplay.qml</file>
+        <file alias="QGroundControl/Controls/MultiRotorMotorDisplayLegend.qml">src/QmlControls/MultiRotorMotorDisplayLegend.qml</file>
         <file alias="QGroundControl/Controls/ModeSwitchDisplay.qml">src/QmlControls/ModeSwitchDisplay.qml</file>
         <file alias="QGroundControl/Controls/ParameterEditor.qml">src/QmlControls/ParameterEditor.qml</file>
         <file alias="QGroundControl/Controls/ParameterEditorDialog.qml">src/QmlControls/ParameterEditorDialog.qml</file>
@@ -71,6 +74,7 @@
         <file alias="QGroundControl/Controls/QGCMovableItem.qml">src/QmlControls/QGCMovableItem.qml</file>
         <file alias="QGroundControl/Controls/QGCPipable.qml">src/QmlControls/QGCPipable.qml</file>
         <file alias="QGroundControl/Controls/QGCRadioButton.qml">src/QmlControls/QGCRadioButton.qml</file>
+        <file alias="QGroundControl/Controls/QGCSlider.qml">src/QmlControls/QGCSlider.qml</file>
         <file alias="QGroundControl/Controls/QGCTextField.qml">src/QmlControls/QGCTextField.qml</file>
         <file alias="QGroundControl/Controls/QGCToolBarButton.qml">src/QmlControls/QGCToolBarButton.qml</file>
         <file alias="QGroundControl/Controls/QGCView.qml">src/QmlControls/QGCView.qml</file>
@@ -78,6 +82,7 @@
         <file alias="QGroundControl/Controls/QGCViewMessage.qml">src/QmlControls/QGCViewMessage.qml</file>
         <file alias="QGroundControl/Controls/QGCViewPanel.qml">src/QmlControls/QGCViewPanel.qml</file>
         <file alias="QGroundControl/Controls/RoundButton.qml">src/QmlControls/RoundButton.qml</file>
+        <file alias="QGroundControl/Controls/SetupPage.qml">src/AutoPilotPlugins/Common/SetupPage.qml</file>
         <file alias="QGroundControl/Controls/SignalStrength.qml">src/ui/toolbar/SignalStrength.qml</file>
         <file alias="QGroundControl/Controls/SliderSwitch.qml">src/QmlControls/SliderSwitch.qml</file>
         <file alias="QGroundControl/Controls/SubMenuButton.qml">src/QmlControls/SubMenuButton.qml</file>
@@ -113,7 +118,6 @@
         <file alias="QGroundControl/FlightMap/QGCInstrumentWidget.qml">src/FlightMap/Widgets/QGCInstrumentWidget.qml</file>
         <file alias="QGroundControl/FlightMap/QGCInstrumentWidgetAlternate.qml">src/FlightMap/Widgets/QGCInstrumentWidgetAlternate.qml</file>
         <file alias="QGroundControl/FlightMap/QGCPitchIndicator.qml">src/FlightMap/Widgets/QGCPitchIndicator.qml</file>
-        <file alias="QGroundControl/FlightMap/QGCSlider.qml">src/FlightMap/Widgets/QGCSlider.qml</file>
         <file alias="QGroundControl/FlightMap/QGCVideoBackground.qml">src/FlightMap/QGCVideoBackground.qml</file>
         <file alias="QGroundControl/FlightMap/ValuesWidget.qml">src/FlightMap/Widgets/ValuesWidget.qml</file>
         <file alias="QGroundControl/FlightMap/VibrationWidget.qml">src/FlightMap/Widgets/VibrationWidget.qml</file>

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -25,6 +25,7 @@
 #include "APMTuningComponent.h"
 #include "APMSensorsComponent.h"
 #include "APMPowerComponent.h"
+#include "MotorComponent.h"
 #include "APMCameraComponent.h"
 #include "ESP8266Component.h"
 
@@ -36,6 +37,7 @@ APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent)
     , _cameraComponent(NULL)
     , _flightModesComponent(NULL)
     , _powerComponent(NULL)
+    , _motorComponent(NULL)
     , _radioComponent(NULL)
     , _safetyComponent(NULL)
     , _sensorsComponent(NULL)
@@ -77,6 +79,12 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
             _powerComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_powerComponent));
 
+            if (_vehicle->multiRotor() || _vehicle->vtol()) {
+                _motorComponent = new MotorComponent(_vehicle, this);
+                _motorComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_motorComponent));
+            }
+
             _safetyComponent = new APMSafetyComponent(_vehicle, this);
             _safetyComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent));

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h

@@ -22,6 +22,7 @@ class APMTuningComponent;
 class APMSafetyComponent;
 class APMSensorsComponent;
 class APMPowerComponent;
+class MotorComponent;
 class APMCameraComponent;
 class ESP8266Component;
 
@@ -41,6 +42,7 @@ public:
     APMCameraComponent*         cameraComponent     (void) const { return _cameraComponent; }
     APMFlightModesComponent*    flightModesComponent(void) const { return _flightModesComponent; }
     APMPowerComponent*          powerComponent      (void) const { return _powerComponent; }
+    MotorComponent*             motorComponent      (void) const { return _motorComponent; }
     APMRadioComponent*          radioComponent      (void) const { return _radioComponent; }
     APMSafetyComponent*         safetyComponent     (void) const { return _safetyComponent; }
     APMSensorsComponent*        sensorsComponent    (void) const { return _sensorsComponent; }
@@ -59,6 +61,7 @@ private:
     APMCameraComponent*         _cameraComponent;
     APMFlightModesComponent*    _flightModesComponent;
     APMPowerComponent*          _powerComponent;
+    MotorComponent*             _motorComponent;
     APMRadioComponent*          _radioComponent;
     APMSafetyComponent*         _safetyComponent;
     APMSensorsComponent*        _sensorsComponent;

src/AutoPilotPlugins/Common/MotorComponent.cc

+/****************************************************************************
+ *
+ *   (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 "MotorComponent.h"
+#include "APMAutoPilotPlugin.h"
+#include "APMAirframeComponent.h"
+
+MotorComponent::MotorComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    VehicleComponent(vehicle, autopilot, parent),
+    _name(tr("Motors"))
+{
+
+}
+
+QString MotorComponent::name(void) const
+{
+    return _name;
+}
+
+QString MotorComponent::description(void) const
+{
+    return tr("Motors Setup is used to manually test motor control and direction.");
+}
+
+QString MotorComponent::iconResource(void) const
+{
+    return QStringLiteral("/qmlimages/MotorComponentIcon.png");
+}
+
+bool MotorComponent::requiresSetup(void) const
+{
+    return false;
+}
+
+bool MotorComponent::setupComplete(void) const
+{
+    return true;
+}
+
+QStringList MotorComponent::setupCompleteChangedTriggerList(void) const
+{
+    return QStringList();
+}
+
+QUrl MotorComponent::setupSource(void) const
+{
+    return QUrl::fromUserInput(QStringLiteral("qrc:/qml/MotorComponent.qml"));
+}
+
+QUrl MotorComponent::summaryQmlSource(void) const
+{
+    return QUrl();
+}
+
+QString MotorComponent::prerequisiteSetup(void) const
+{
+    return QString();
+}

src/AutoPilotPlugins/Common/MotorComponent.h

+/****************************************************************************
+ *
+ *   (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.
+ *
+ ****************************************************************************/
+
+
+#ifndef MotorComponent_H
+#define MotorComponent_H
+
+#include "VehicleComponent.h"
+#include "Fact.h"
+
+class MotorComponent : public VehicleComponent
+{
+    Q_OBJECT
+    
+public:
+    MotorComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    
+    // Virtuals from VehicleComponent
+    QStringList setupCompleteChangedTriggerList(void) const final;
+    
+    // Virtuals from VehicleComponent
+    QString name(void) const final;
+    QString description(void) const final;
+    QString iconResource(void) const final;
+    bool requiresSetup(void) const final;
+    bool setupComplete(void) const final;
+    QUrl setupSource(void) const final;
+    QUrl summaryQmlSource(void) const final;
+    QString prerequisiteSetup(void) const final;
+
+private:
+    const QString   _name;
+};
+
+#endif

src/AutoPilotPlugins/Common/MotorComponent.qml

+/****************************************************************************
+ *
+ *   (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          2.5
+import QtQuick.Controls 1.2
+import QtQuick.Dialogs  1.2
+
+import QGroundControl               1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.FactSystem    1.0
+import QGroundControl.ScreenTools   1.0
+
+SetupPage {
+    id:             motorPage
+    pageComponent:  pageComponent
+
+    readonly property int _barHeight:       10
+    readonly property int _barWidth:        5
+    readonly property int _sliderHeight:    10
+
+    FactPanelController {
+        id:             controller
+        factPanel:      motorPage.viewPanel
+    }
+
+    Component {
+        id: pageComponent
+
+        Column {
+            spacing: 10
+
+            Row {
+                id:         motorSliders
+                enabled:    safetySwitch.checked
+                spacing:    ScreenTools.defaultFontPixelWidth * 4
+
+                Repeater {
+                    id:         sliderRepeater
+                    model:      controller.vehicle.motorCount == -1 ? 8 : controller.vehicle.motorCount
+
+                    Column {
+                        property alias motorSlider: slider
+
+                        Timer {
+                            interval:       250
+                            running:        true
+                            repeat:         true
+
+                            property real _lastValue: 0
+
+                            onTriggered: {
+                                if (_lastValue != slider.value) {
+                                    controller.vehicle.motorTest(index + 1, slider.value, 1)
+                                }
+                            }
+                        }
+
+                        QGCLabel {
+                            anchors.horizontalCenter:   parent.horizontalCenter
+                            text:                       index + 1
+                        }
+
+                        QGCSlider {
+                            id:                         slider
+                            height:                     ScreenTools.defaultFontPixelHeight * _sliderHeight
+                            orientation:                Qt.Vertical
+                            maximumValue:               100
+                            value:                      0
+                        }
+                    } // Column
+                } // Repeater
+
+                Column {
+                    QGCLabel {
+                        anchors.horizontalCenter:   parent.horizontalCenter
+                        text:                       qsTr("All")
+                    }
+
+                    QGCSlider {
+                        id:                         allSlider
+                        height:                     ScreenTools.defaultFontPixelHeight * _sliderHeight
+                        orientation:                Qt.Vertical
+                        maximumValue:               100
+                        value:                      0
+
+                        onValueChanged: {
+                            for (var sliderIndex=0; sliderIndex<sliderRepeater.count; sliderIndex++) {
+                                sliderRepeater.itemAt(sliderIndex).motorSlider.value = allSlider.value
+                            }
+                        }
+                    }
+                } // Column
+
+                MultiRotorMotorDisplay {
+                    anchors.top:    parent.top
+                    anchors.bottom: parent.bottom
+                    width:          height
+                    motorCount:     controller.vehicle.motorCount
+                    xConfig:        controller.vehicle.xConfigMotors
+                    coaxial:        controller.vehicle.coaxialMotors
+                }
+
+                MultiRotorMotorDisplayLegend {
+                    anchors.top:    parent.top
+                    anchors.bottom: parent.bottom
+                    width:          height
+                }
+            } // Row
+
+            QGCLabel {
+                anchors.left:   parent.left
+                anchors.right:  parent.right
+                wrapMode:       Text.WordWrap
+                text:           qsTr("Moving the sliders will causes the motors to spin. Make sure you remove all props.")
+            }
+
+            Row {
+                spacing: ScreenTools.defaultFontPixelWidth
+
+                Switch {
+                    id: safetySwitch
+                    onClicked: {
+                        if (!checked) {
+                            for (var sliderIndex=0; sliderIndex<sliderRepeater.count; sliderIndex++) {
+                                sliderRepeater.itemAt(sliderIndex).motorSlider.value = 0
+                            }
+                            allSlider.value = 0
+                        }
+                    }
+                }
+
+                QGCLabel {
+                    color:  qgcPal.warningText
+                    text:   qsTr("Propellors are removed - Enable motor sliders")
+                }
+            } // Row
+        } // Column
+    } // Component
+} // SetupPahe

src/AutoPilotPlugins/Common/SetupPage.qml

+/****************************************************************************
+ *
+ *   (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          2.5
+import QtQuick.Controls 1.2
+import QtQuick.Dialogs  1.2
+
+import QGroundControl               1.0
+import QGroundControl.FactSystem    1.0
+import QGroundControl.FactControls  1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Controllers   1.0
+
+/// Base view control for all Setup pages
+QGCView {
+    id:         setupView
+    viewPanel:  setupPanel
+
+    property alias pageComponent: pageLoader.sourceComponent
+
+    property real _margins: ScreenTools.defaultFontPixelHeight / 2
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: setupPanel.enabled }
+
+    QGCViewPanel {
+        id:             setupPanel
+        anchors.fill:   parent
+
+        QGCFlickable {
+            anchors.fill:   parent
+            contentWidth:   pageLoader.item.x + pageLoader.item.width
+            contentHeight:  pageLoader.item.y + pageLoader.item.height
+            clip:           true
+
+            Column {
+                id:             headingColumn
+                anchors.left:   parent.left
+                anchors.right:  parent.right
+                spacing:        _margins
+
+                QGCLabel {
+                    font.pointSize: ScreenTools.largeFontPointSize
+                    text:           vehicleComponent.name + " " + qsTr("Setup")
+                    visible:        !ScreenTools.isShortScreen
+                }
+
+                QGCLabel {
+                    anchors.left:   parent.left
+                    anchors.right:  parent.right
+                    wrapMode:       Text.WordWrap
+                    text:           vehicleComponent.description
+                    visible:        !ScreenTools.isShortScreen
+                }
+            }
+
+            Loader {
+                anchors.topMargin:  _margins
+                anchors.top:        headingColumn.bottom
+                id:                 pageLoader
+            }
+        }
+    }
+}

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -22,16 +22,17 @@
 ///     @brief This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_PX4 type.
 ///     @author Don Gagne <don@thegagnes.com>
 
-PX4AutoPilotPlugin::PX4AutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
-    AutoPilotPlugin(vehicle, parent),
-    _airframeComponent(NULL),
-    _radioComponent(NULL),
-    _esp8266Component(NULL),
-    _flightModesComponent(NULL),
-    _sensorsComponent(NULL),
-    _safetyComponent(NULL),
-    _powerComponent(NULL),
-    _incorrectParameterVersion(false)
+PX4AutoPilotPlugin::PX4AutoPilotPlugin(Vehicle* vehicle, QObject* parent)
+    : AutoPilotPlugin(vehicle, parent)
+    , _airframeComponent(NULL)
+    , _radioComponent(NULL)
+    , _esp8266Component(NULL)
+    , _flightModesComponent(NULL)
+    , _sensorsComponent(NULL)
+    , _safetyComponent(NULL)
+    , _powerComponent(NULL)
+    , _motorComponent(NULL)
+    , _incorrectParameterVersion(false)
 {
     Q_ASSERT(vehicle);
 
@@ -74,6 +75,13 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
             _powerComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_powerComponent));
 
+#if 0
+            // Coming soon
+            _motorComponent = new MotorComponent(_vehicle, this);
+            _motorComponent->setupTriggerSignals();
+            _components.append(QVariant::fromValue((VehicleComponent*)_motorComponent));
+#endif
+
             _safetyComponent = new SafetyComponent(_vehicle, this);
             _safetyComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent));

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h

@@ -21,6 +21,7 @@
 #include "SafetyComponent.h"
 #include "CameraComponent.h"
 #include "PowerComponent.h"
+#include "MotorComponent.h"
 #include "PX4TuningComponent.h"
 #include "Vehicle.h"
 
@@ -50,6 +51,7 @@ public:
     SafetyComponent*        safetyComponent(void)       { return _safetyComponent; }
     CameraComponent*        cameraComponent(void)       { return _cameraComponent; }
     PowerComponent*         powerComponent(void)        { return _powerComponent; }
+    MotorComponent*         motorComponent(void)        { return _motorComponent; }
     PX4TuningComponent*     tuningComponent(void)       { return _tuningComponent; }
 
 public slots:
@@ -67,6 +69,7 @@ private:
     SafetyComponent*        _safetyComponent;
     CameraComponent*        _cameraComponent;
     PowerComponent*         _powerComponent;
+    MotorComponent*         _motorComponent;
     PX4TuningComponent*     _tuningComponent;
     bool                    _incorrectParameterVersion; ///< true: parameter version incorrect, setup not allowed
 };

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -122,7 +122,6 @@ APMCustomMode::APMCustomMode(uint32_t mode, bool settable) :
 {
 }
 
-
 void APMCustomMode::setEnumToStringMapping(const QMap<uint32_t, QString>& enumToString)
 {
     _enumToString = enumToString;
@@ -138,8 +137,10 @@ QString APMCustomMode::modeString() const
 }
 
 APMFirmwarePlugin::APMFirmwarePlugin(void)
+    : _coaxialMotors(false)
+    , _textSeverityAdjustmentNeeded(false)
 {
-    _textSeverityAdjustmentNeeded = false;
+
 }
 
 bool APMFirmwarePlugin::isCapable(FirmwareCapabilities capabilities)
@@ -380,6 +381,15 @@ bool APMFirmwarePlugin::_handleStatusText(Vehicle* vehicle, mavlink_message_t* m
 
         // Start TCP video handshake with ARTOO
         _soloVideoHandshake(vehicle);
+    } else if (messageText.contains(APM_FRAME_REXP)) {
+        // We need to parse the Frame: message in order to determine whether the motors are coaxial or not
+        QRegExp frameTypeRegex("^Frame: (\\S*)");
+        if (frameTypeRegex.indexIn(messageText) != -1) {
+            QString frameType = frameTypeRegex.cap(1);
+            if (!frameType.isEmpty() && (frameType == QStringLiteral("Y6") || frameType == QStringLiteral("OCTA_QUAD") || frameType == QStringLiteral("COAX"))) {
+                _coaxialMotors = true;
+            }
+        }
     }
 
     if (messageText.startsWith("PreArm")) {

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -99,6 +99,8 @@ protected:
     APMFirmwarePlugin(void);
     void setSupportedModes(QList<APMCustomMode> supportedModes);
 
+    bool _coaxialMotors;
+
 private slots:
     void _artooSocketError(QAbstractSocket::SocketError socketError);
     

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -197,3 +197,14 @@ void ArduCopterFirmwarePlugin::setGuidedMode(Vehicle* vehicle, bool guidedMode)
         pauseVehicle(vehicle);
     }
 }
+
+bool ArduCopterFirmwarePlugin::multiRotorCoaxialMotors(Vehicle* vehicle)
+{
+    Q_UNUSED(vehicle);
+    return _coaxialMotors;
+}
+
+bool ArduCopterFirmwarePlugin::multiRotorXConfig(Vehicle* vehicle)
+{
+    return vehicle->autopilotPlugin()->getParameterFact(FactSystem::defaultComponentId, "FRAME")->rawValue().toInt() != 0;
+}

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h

@@ -64,6 +64,8 @@ public:
     void guidedModeChangeAltitude(Vehicle* vehicle, double altitudeRel) final;
     const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
     virtual int remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const final;
+    virtual bool multiRotorCoaxialMotors(Vehicle* vehicle) final;
+    virtual bool multiRotorXConfig(Vehicle* vehicle) final;
 
 private:
     static bool _remapParamNameIntialized;

src/FirmwarePlugin/FirmwarePlugin.h

@@ -181,6 +181,12 @@ public:
 
     /// Returns the highest major version number that is known to the remap for this specified major version.
     virtual int remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const;
+
+    /// @return true: Motors are coaxial like an X8 config, false: Quadcopter for example
+    virtual bool multiRotorCoaxialMotors(Vehicle* vehicle) { Q_UNUSED(vehicle); return false; }
+
+    /// @return true: X confiuration, false: Plus configuration
+    virtual bool multiRotorXConfig(Vehicle* vehicle) { Q_UNUSED(vehicle); return false; }
 };
 
 #endif

src/FlightMap/Widgets/QGCSlider.qml

-/****************************************************************************
-**
-** Copyright (C) 2013 Digia Plc and/or its subsidiary(-ies).
-** Contact: http://www.qt-project.org/legal
-**
-** This file is part of the examples of the Qt Toolkit.
-**
-** $QT_BEGIN_LICENSE:BSD$
-** You may use this file under the terms of the BSD license as follows:
-**
-** "Redistribution and use in source and binary forms, with or without
-** modification, are permitted provided that the following conditions are
-** met:
-**   * Redistributions of source code must retain the above copyright
-**     notice, this list of conditions and the following disclaimer.
-**   * Redistributions in binary form must reproduce the above copyright
-**     notice, this list of conditions and the following disclaimer in
-**     the documentation and/or other materials provided with the
-**     distribution.
-**   * Neither the name of Digia Plc and its Subsidiary(-ies) nor the names
-**     of its contributors may be used to endorse or promote products derived
-**     from this software without specific prior written permission.
-**
-**
-** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-** "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-** LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-** A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
-** OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-** SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
-** LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-** DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
-** THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-** (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE."
-**
-** $QT_END_LICENSE$
-**
-****************************************************************************/
-
-import QtQuick 2.1
-import QGroundControl.Controls 1.0
-import QGroundControl.ScreenTools 1.0
-
-Item {
-    id: slider;
-    height: 12
-    property real value // value is read/write.
-    property real minimum: 0
-    property real maximum: 1
-    property int length: width - handle.width
-
-    Rectangle {
-        anchors.fill:   parent
-        radius:         ScreenTools.defaultFontPixelHeight * (0.5)
-        color:          Qt.rgba(0,0,0,0.65);
-    }
-
-    Rectangle {
-        anchors.left:       parent.left
-        anchors.leftMargin: ScreenTools.defaultFontPixelHeight * (0.33)
-        radius:             ScreenTools.defaultFontPixelHeight * (0.33)
-        height:             ScreenTools.defaultFontPixelHeight * (0.33)
-        width:              handle.x - x
-        color:              "#69bb17"
-        anchors.verticalCenter: parent.verticalCenter
-    }
-
-    Rectangle {
-        id:                 labelRect
-        width:              label.width
-        height:             label.height + ScreenTools.defaultFontPixelHeight * (0.33)
-        radius:             ScreenTools.defaultFontPixelHeight * (0.33)
-        smooth:             true
-        color:              Qt.rgba(1,1,1,0.75);
-        border.width:       ScreenTools.defaultFontPixelHeight * (0.083)
-        border.color:       Qt.rgba(0,0,0,0.45);
-        anchors.bottom:     handle.top
-        anchors.bottomMargin: ScreenTools.defaultFontPixelHeight * (0.33)
-        visible: mouseRegion.pressed
-        x: Math.max(Math.min(handle.x + (handle.width - width ) / 2, slider.width - width), 0)
-        QGCLabel{
-            id:     label
-            color:  "black"
-            text:   slider.value.toFixed(2)
-            width:  font.pointSize * 3.5
-            anchors.horizontalCenter:   labelRect.horizontalCenter
-            horizontalAlignment:        Text.AlignHCenter
-            anchors.verticalCenter:     labelRect.verticalCenter
-        }
-    }
-
-    Rectangle {
-        id:         handle;
-        smooth:     true
-        width:      ScreenTools.defaultFontPixelHeight * (2.16);
-        y:          (slider.height - height) / 2;
-        x:          (slider.value - slider.minimum) * slider.length / (slider.maximum - slider.minimum)
-
-        height:     width
-        radius:     width / 2
-        gradient:   normalGradient
-        border.width: 2
-        border.color: "white"
-
-        Gradient {
-            id: normalGradient
-            GradientStop { position: 0.0;  color: "#b0b0b0" }
-            GradientStop { position: 0.66; color: "#909090" }
-            GradientStop { position: 1.0;  color: "#545454" }
-        }
-
-        MouseArea {
-            id: mouseRegion
-            hoverEnabled: false
-            anchors.fill: parent; drag.target: parent
-            drag.axis: Drag.XAxis; drag.minimumX: 0; drag.maximumX: slider.length
-            preventStealing: true
-            onPositionChanged: { slider.value = (slider.maximum - slider.minimum) * handle.x / slider.length + slider.minimum; }
-        }
-    }
-}

src/QmlControls/MultiRotorMotorDisplay.qml

+import QtQuick 2.2
+
+import QGroundControl.Palette       1.0
+import QGroundControl.ScreenTools   1.0
+
+Item {
+    id: motorRoot
+
+    property int    motorCount: 4       // Number of motors on vehicle
+    property bool   xConfig:    true    // true: X configuration, false: Plus configuration
+    property bool   coaxial:    true    // true: motors on top bottom of same arm, false: motors only on top of arm
+
+    property bool   _unsupportedConfig: motorCount == 3 || (motorCount == 6 && coaxial) // Tricopters NYI
+    property var    _qgcPal:            QGCPalette { colorGroupEnabled: enabled }
+    property real   _rotorRadius:       motorRoot.height / 8
+    property int    _motorsPerSide:     motorCount / (coaxial ? 2 : 1)
+
+    readonly property string    _cwColor:               "green"
+    readonly property string    _ccwColor:              "blue"
+    readonly property var       _motorColors4Plus:      [ _ccwColor, _cwColor ]
+    readonly property var       _motorColors4X:         [ _cwColor, _ccwColor ]
+    readonly property var       _motorColors6:          [ _cwColor, _ccwColor ]
+    readonly property var       _motorColors8:          [ _cwColor, _ccwColor ]
+    readonly property var       _motorColors4Top:       [ _cwColor, _ccwColor ]
+    readonly property var       _motorColors4Bottom:    [ _ccwColor, _cwColor ]
+
+    readonly property var       _motorNumbers4Plus:     [ 1, 4, 2, 3 ]
+    readonly property var       _motorNumbers4X:        [ 4, 2, 3, 1 ]
+    readonly property var       _motorNumbers6Plus:     [ 6, 2, 3, 5, 1, 4 ]
+    readonly property var       _motorNumbers6X:        [ 1, 4, 6, 2, 3, 5 ]
+    readonly property var       _motorNumbers8:         [ 8, 4, 2, 6, 7, 5, 1, 3 ]
+    readonly property var       _motorNumbers4Top:      [ 4, 3, 2, 1 ]
+    readonly property var       _motorNumbers4Bottom:   [ 7, 8, 5, 6 ]
+
+    Component.onCompleted: {
+        if (coaxial) {
+            topMotors.motorNumbers = _motorNumbers4Top
+            bottomMotors.motorNumbers = _motorNumbers4Bottom
+        } else {
+            switch (motorCount) {
+            case 4:
+                topMotors.motorNumbers = xConfig ? _motorNumbers4X : _motorNumbers4Plus
+                topMotors.motorColors = xConfig ? _motorColors4X : _motorColors4Plus
+                break
+            case 6:
+                topMotors.motorNumbers = xConfig ? _motorNumbers6X : _motorNumbers6Plus
+                topMotors.motorColors = _motorColors6
+                break
+            default:
+            case 8:
+                topMotors.motorNumbers = _motorNumbers8
+                topMotors.motorColors = _motorColors8
+                break
+            }
+            bottomMotors.motorNumbers = _motorNumbers8
+        }
+    }
+
+    Component {
+        id: motorDisplayComponent
+
+        Repeater {
+            id:     motorRepeater
+            model: _motorsPerSide
+
+            Item {
+                x:      motorRepeater.width / 2 + _armXCenter - rotor.radius
+                y:      motorRepeater.height / 2 + _armYCenter - rotor.radius
+                width:  _rotorRadius * 2
+                height: _rotorRadius * 2
+
+                property real _armOffsetRadians:        ((2 * Math.PI) / _motorsPerSide)
+                property real _armOffsetIndexRadians:   (_armOffsetRadians  * index) + ((xConfig && _motorsPerSide != 6) || (!xConfig && _motorsPerSide == 6) ? _armOffsetRadians / 2 : 0)
+                property real _armLength:               (motorRepeater.height / 2) - (_rotorRadius * (xConfig && _motorsPerSide == 4 ? 0 : 1))
+                property real _armXCenter:              Math.cos(_armOffsetIndexRadians) * _armLength // adjacent = cos * hypotenuse
+                property real _armYCenter:              Math.sin(_armOffsetIndexRadians) * _armLength // opposite = sin * hypotenuse
+
+                Rectangle {id:      rotor
+                    anchors.fill:   parent
+                    radius:         _rotorRadius
+                    color:          motorColors[index & 1]
+                    opacity:        topCoaxial ? 0.65 : 1.0
+                    border.color:   topCoaxial ? "black" : color
+
+                    readonly property bool topCoaxial: topMotors && coaxial
+                }
+
+                Rectangle {
+                    anchors.horizontalCenter:   parent.horizontalCenter
+                    anchors.verticalCenter:     parent.verticalCenter
+                    width:                      radius *2
+                    height:                     radius *2
+                    radius:                     ScreenTools.defaultFontPixelHeight / 2
+                    color:                      "white"
+                    border.color:               "black"
+
+                    QGCLabel {
+                        anchors.fill:               parent
+                        verticalAlignment:          Text.AlignVCenter
+                        horizontalAlignment:        Text.AlignHCenter
+                        text:                       motorNumbers[index]
+                        color:                      parent.border.color
+                    }
+                }
+            } // Item
+        } // Repeater
+    } // Component - MotorDisplayComponent
+
+    Item {
+        anchors.fill:   parent
+        visible:        !_unsupportedConfig
+
+        Loader {
+            id:                 bottomMotors
+            anchors.topMargin:  ScreenTools.defaultFontPixelHeight
+            anchors.fill:       parent
+            sourceComponent:    motorDisplayComponent
+            visible:            coaxial
+
+            property bool   topMotors:      false
+            property var    motorNumbers:   _motorNumbers8
+            property var    motorColors:    _motorColors4Bottom
+        }
+
+        Loader {
+            id:                     topMotors
+            anchors.fill:           parent
+            anchors.bottomMargin:   coaxial ? ScreenTools.defaultFontPixelHeight : 0
+            sourceComponent:        motorDisplayComponent
+
+            property bool   topMotors:      true
+            property var    motorNumbers:   _motorNumbers8
+            property var    motorColors:    _motorColors4Top
+        }
+
+        // Body direction
+        Canvas {
+            anchors.fill: parent
+
+            property real _centerX : width / 2
+            property real _centerY : height / 2
+
+            onPaint: {
+                var ctx = getContext("2d");
+                ctx.lineWidth = 3
+                ctx.strokeStyle = _qgcPal.text
+                ctx.translate(_centerX, _centerY)
+                ctx.moveTo(0, -_rotorRadius / 2);
+                ctx.lineTo(_rotorRadius / 2, _rotorRadius);
+                ctx.lineTo(-_rotorRadius / 2, _rotorRadius);
+                ctx.lineTo(0, -_rotorRadius / 2);
+                ctx.stroke();
+            }
+        }
+    } // Item
+} // Item

src/QmlControls/MultiRotorMotorDisplayLegend.qml

+import QtQuick 2.2
+
+import QGroundControl.Palette       1.0
+import QGroundControl.ScreenTools   1.0
+
+Item {
+    id: legendRoot
+
+    property var    _qgcPal:            QGCPalette { colorGroupEnabled: enabled }
+    property real   _rotorRadius:       legendRoot.height / 16
+
+    readonly property string    _cwColor:               "green"
+    readonly property string    _ccwColor:              "blue"
+
+    Item {
+        id:             cwItem
+        anchors.left:   parent.left
+        anchors.right:  parent.right
+        height:         legendRoot.height / 2
+
+        Rectangle {
+            id:                     cwRotor
+            anchors.left:           parent.left
+            anchors.verticalCenter: parent.verticalCenter
+            width:                  _rotorRadius * 2
+            height:                 _rotorRadius * 2
+            radius:                 _rotorRadius
+            color:                  _cwColor
+        }
+
+        QGCLabel {
+            anchors.leftMargin: ScreenTools.defaultFontPixelWidth
+            anchors.left:       cwRotor.right
+            anchors.right:      parent.right
+            anchors.top:        parent.top
+            anchors.bottom:     parent.bottom
+            verticalAlignment:  Text.AlignVCenter
+            wrapMode:           Text.WordWrap
+            text:               qsTr("Clockwise rotation, use pusher propellor")
+        }
+    }
+
+    Item {
+        id:             ccwItem
+        anchors.top:    cwItem.bottom
+        anchors.bottom: parent.bottom
+        anchors.left:   parent.left
+        anchors.right:  parent.right
+
+        Rectangle {
+            id:                     ccwRotor
+            anchors.left:           parent.left
+            anchors.verticalCenter: parent.verticalCenter
+            width:                  _rotorRadius * 2
+            height:                 _rotorRadius * 2
+            radius:                 _rotorRadius
+            color:                  _ccwColor
+        }
+
+        QGCLabel {
+            anchors.leftMargin: ScreenTools.defaultFontPixelWidth
+            anchors.left:       ccwRotor.right
+            anchors.right:      parent.right
+            anchors.top:        parent.top
+            anchors.bottom:     parent.bottom
+            verticalAlignment:  Text.AlignVCenter
+            wrapMode:           Text.WordWrap
+            text:               qsTr("Counter-Clockwise rotation, use normal propellor")
+        }
+    }
+} // Item

src/QmlControls/QGCSlider.qml

+/****************************************************************************
+ *
+ *   (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                  2.2
+import QtQuick.Controls         1.2
+import QtQuick.Controls.Styles  1.2
+import QtQuick.Controls.Private 1.0
+
+import QGroundControl.Palette       1.0
+import QGroundControl.ScreenTools   1.0
+
+Slider {
+    property var _qgcPal: QGCPalette { colorGroupEnabled: enabled }
+
+    style: SliderStyle {
+        groove: Item {
+            property color fillColor: "#49d"
+            anchors.verticalCenter: parent.verticalCenter
+            implicitWidth: Math.round(TextSingleton.implicitHeight * 4.5)
+            implicitHeight: Math.max(6, Math.round(TextSingleton.implicitHeight * 0.3))
+
+            Rectangle {
+                radius: height/2
+                anchors.fill: parent
+                border.width: 1
+                border.color: "#888"
+                gradient: Gradient {
+                    GradientStop { color: "#bbb" ; position: 0 }
+                    GradientStop { color: "#ccc" ; position: 0.6 }
+                    GradientStop { color: "#ccc" ; position: 1 }
+                }
+            }
+
+            Item {
+                clip: true
+                width: styleData.handlePosition
+                height: parent.height
+                Rectangle {
+                    anchors.fill: parent
+                    border.color: Qt.darker(fillColor, 1.2)
+                    radius: height/2
+                    gradient: Gradient {
+                        GradientStop {color: Qt.lighter(fillColor, 1.3)  ; position: 0}
+                        GradientStop {color: fillColor ; position: 1.4}
+                    }
+                }
+            }
+        }
+    }
+}

src/QmlControls/QGroundControl.Controls.qmldir

@@ -13,6 +13,8 @@ MissionItemEditor       1.0 MissionItemEditor.qml
 MissionItemIndexLabel   1.0 MissionItemIndexLabel.qml
 MissionItemStatus       1.0 MissionItemStatus.qml
 ModeSwitchDisplay       1.0 ModeSwitchDisplay.qml
+MultiRotorMotorDisplay  1.0 MultiRotorMotorDisplay.qml
+MultiRotorMotorDisplayLegend  1.0 MultiRotorMotorDisplayLegend.qml
 ParameterEditor         1.0 ParameterEditor.qml
 ParameterEditorDialog   1.0 ParameterEditorDialog.qml
 RCChannelMonitor        1.0 RCChannelMonitor.qml
@@ -26,6 +28,7 @@ QGCMobileFileDialog     1.0 QGCMobileFileDialog.qml
 QGCMovableItem          1.0 QGCMovableItem.qml
 QGCPipable              1.0 QGCPipable.qml
 QGCRadioButton          1.0 QGCRadioButton.qml
+QGCSlider               1.0 QGCSlider.qml
 QGCTextField            1.0 QGCTextField.qml
 QGCToolBarButton        1.0 QGCToolBarButton.qml
 QGCView                 1.0 QGCView.qml
@@ -33,6 +36,7 @@ QGCViewDialog           1.0 QGCViewDialog.qml
 QGCViewMessage          1.0 QGCViewMessage.qml
 QGCViewPanel            1.0 QGCViewPanel.qml
 RoundButton             1.0 RoundButton.qml
+SetupPage               1.0 SetupPage.qml
 SignalStrength          1.0 SignalStrength.qml
 SliderSwitch            1.0 SliderSwitch.qml
 SubMenuButton           1.0 SubMenuButton.qml

src/Vehicle/Vehicle.cc

@@ -916,6 +916,37 @@ void Vehicle::_updateNavigationControllerData(UASInterface *uas, float, float, f
     }
 }
 
+int Vehicle::motorCount(void)
+{
+    switch (_vehicleType) {
+    case MAV_TYPE_HELICOPTER:
+        return 1;
+    case MAV_TYPE_VTOL_DUOROTOR:
+        return 2;
+    case MAV_TYPE_TRICOPTER:
+        return 3;
+    case MAV_TYPE_QUADROTOR:
+    case MAV_TYPE_VTOL_QUADROTOR:
+        return 4;
+    case MAV_TYPE_HEXAROTOR:
+        return 6;
+    case MAV_TYPE_OCTOROTOR:
+        return 8;
+    default:
+        return -1;
+    }
+}
+
+bool Vehicle::coaxialMotors(void)
+{
+    return _firmwarePlugin->multiRotorCoaxialMotors(this);
+}
+
+bool Vehicle::xConfigMotors(void)
+{
+    return _firmwarePlugin->multiRotorXConfig(this);
+}
+
 /*
  * Internal
  */
@@ -1738,6 +1769,11 @@ void Vehicle::setSoloFirmware(bool soloFirmware)
     }
 }
 
+void Vehicle::motorTest(int motor, int percent, int timeoutSecs)
+{
+    doCommandLong(defaultComponentId(), MAV_CMD_DO_MOTOR_TEST, motor, MOTOR_TEST_THROTTLE_PERCENT, percent, timeoutSecs);
+}
+
 const char* VehicleGPSFactGroup::_hdopFactName =                "hdop";
 const char* VehicleGPSFactGroup::_vdopFactName =                "vdop";
 const char* VehicleGPSFactGroup::_courseOverGroundFactName =    "courseOverGround";

src/Vehicle/Vehicle.h

@@ -277,6 +277,9 @@ public:
     Q_PROPERTY(bool                 rover                   READ rover                                                  CONSTANT)
     Q_PROPERTY(bool                 autoDisconnect          MEMBER _autoDisconnect                                      NOTIFY autoDisconnectChanged)
     Q_PROPERTY(QString              prearmError             READ prearmError            WRITE setPrearmError            NOTIFY prearmErrorChanged)
+    Q_PROPERTY(int                  motorCount              READ motorCount                                             CONSTANT)
+    Q_PROPERTY(bool                 coaxialMotors           READ coaxialMotors                                          CONSTANT)
+    Q_PROPERTY(bool                 xConfigMotors           READ xConfigMotors                                          CONSTANT)
 
     /// true: Vehicle is flying, false: Vehicle is on ground
     Q_PROPERTY(bool flying      READ flying     WRITE setFlying     NOTIFY flyingChanged)
@@ -362,6 +365,12 @@ public:
     /// Clear Messages
     Q_INVOKABLE void clearMessages();
 
+    /// Test motor
+    ///     @param motor Motor number, 1-based
+    ///     @param percent 0-no power, 100-full power
+    ///     @param timeoutSecs Number of seconds for motor to run
+    Q_INVOKABLE void motorTest(int motor, int percent, int timeoutSecs);
+
     bool guidedModeSupported(void) const;
     bool pauseVehicleSupported(void) const;
 
@@ -438,7 +447,6 @@ public:
     QString flightMode(void) const;
     void setFlightMode(const QString& flightMode);
 
-
     bool hilMode(void);
     void setHilMode(bool hilMode);
 
@@ -535,6 +543,15 @@ public:
 
     int defaultComponentId(void);
 
+    /// @return -1 = Unknown, Number of motors on vehicle
+    int motorCount(void);
+
+    /// @return true: Motors are coaxial like an X8 config, false: Quadcopter for example
+    bool coaxialMotors(void);
+
+    /// @return true: X confiuration, false: Plus configuration
+    bool xConfigMotors(void);
+
 public slots:
     void setLatitude(double latitude);
     void setLongitude(double longitude);

src/VehicleSetup/SetupView.qml

@@ -97,6 +97,7 @@ Rectangle {
                 _messagePanelText = vehicleComponent.prerequisiteSetup + " setup must be completed prior to " + vehicleComponent.name + " setup."
                 panelLoader.sourceComponent = messagePanelComponent
             } else {
+                panelLoader.vehicleComponent = vehicleComponent
                 panelLoader.source = vehicleComponent.setupSource
                 for(var i = 0; i < componentRepeater.count; i++) {
                     var obj = componentRepeater.itemAt(i);
@@ -324,5 +325,7 @@ Rectangle {
         anchors.right:          parent.right
         anchors.top:            parent.top
         anchors.bottom:         parent.bottom
+
+        property var vehicleComponent
     }
 }