Implementation of Battery Monitor configuration, and addition of...

Implementation of Battery Monitor configuration, and addition of AP2ConfigWidget, which automatically handles UAS connections to allow for simpler configuration window code.

qgroundcontrol.pro

@@ -424,7 +424,8 @@ HEADERS += src/MG.h \
     src/ui/configuration/OpticalFlowConfig.h \
     src/ui/configuration/OsdConfig.h \
     src/ui/configuration/AntennaTrackerConfig.h \
-    src/ui/configuration/CameraGimbalConfig.h
+    src/ui/configuration/CameraGimbalConfig.h \
+    src/ui/configuration/AP2ConfigWidget.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -616,7 +617,8 @@ SOURCES += src/main.cc \
     src/ui/configuration/OpticalFlowConfig.cc \
     src/ui/configuration/OsdConfig.cc \
     src/ui/configuration/AntennaTrackerConfig.cc \
-    src/ui/configuration/CameraGimbalConfig.cc
+    src/ui/configuration/CameraGimbalConfig.cc \
+    src/ui/configuration/AP2ConfigWidget.cc
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

qgroundcontrol.qrc

@@ -110,6 +110,7 @@
         <file>files/images/mavs/frames_x.png</file>
         <file>files/images/mavs/frames-05.png</file>
         <file>files/images/devices/BR-HMC5883-01-2.jpg</file>
+        <file>files/images/devices/BR-APMPWRDEAN-2.jpg</file>
     </qresource>
     <qresource prefix="/general">
         <file alias="vera.ttf">files/styles/Vera.ttf</file>

src/ui/configuration/AP2ConfigWidget.cc

+#include "AP2ConfigWidget.h"
+
+AP2ConfigWidget::AP2ConfigWidget(QWidget *parent) : QWidget(parent)
+{
+    m_uas = 0;
+    connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
+    activeUASSet(UASManager::instance()->getActiveUAS());
+}
+void AP2ConfigWidget::activeUASSet(UASInterface *uas)
+{
+    if (!uas) return;
+    if (m_uas)
+    {
+        disconnect(m_uas,SIGNAL(parameterChanged(int,int,QString,QVariant)),this,SLOT(parameterChanged(int,int,QString,QVariant)));
+    }
+    m_uas = uas;
+    connect(m_uas,SIGNAL(parameterChanged(int,int,QString,QVariant)),this,SLOT(parameterChanged(int,int,QString,QVariant)));
+}
+
+void AP2ConfigWidget::parameterChanged(int uas, int component, QString parameterName, QVariant value)
+{
+
+}

src/ui/configuration/AP2ConfigWidget.h

+#ifndef AP2CONFIGWIDGET_H
+#define AP2CONFIGWIDGET_H
+
+#include <QWidget>
+#include "UASManager.h"
+#include "UASInterface.h"
+class AP2ConfigWidget : public QWidget
+{
+    Q_OBJECT
+public:
+    explicit AP2ConfigWidget(QWidget *parent = 0);
+protected:
+    UASInterface *m_uas;
+signals:
+    
+public slots:
+    virtual void activeUASSet(UASInterface *uas);
+    virtual void parameterChanged(int uas, int component, QString parameterName, QVariant value);
+};
+
+#endif // AP2CONFIGWIDGET_H

src/ui/configuration/BatteryMonitorConfig.cc

 #include "BatteryMonitorConfig.h"
+#include <QMessageBox>
 
-
-BatteryMonitorConfig::BatteryMonitorConfig(QWidget *parent) : QWidget(parent)
+BatteryMonitorConfig::BatteryMonitorConfig(QWidget *parent) : AP2ConfigWidget(parent)
 {
     ui.setupUi(this);
+    ui.monitorComboBox->addItem("0: Disabled");
+    ui.monitorComboBox->addItem("3: Battery Volts");
+    ui.monitorComboBox->addItem("4: Voltage and Current");
+
+    ui.sensorComboBox->addItem("0: Other");
+    ui.sensorComboBox->addItem("1: AttoPilot 45A");
+    ui.sensorComboBox->addItem("2: AttoPilot 90A");
+    ui.sensorComboBox->addItem("3: AttoPilot 180A");
+    ui.sensorComboBox->addItem("4: 3DR Power Module");
+
+    ui.apmVerComboBox->addItem("0: APM1");
+    ui.apmVerComboBox->addItem("1: APM2 - 2.5 non 3DR");
+    ui.apmVerComboBox->addItem("2: APM2.5 - 3DR Power Module");
+    ui.apmVerComboBox->addItem("3: PX4");
+
+    connect(ui.monitorComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(monitorCurrentIndexChanged(int)));
+    connect(ui.sensorComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(sensorCurrentIndexChanged(int)));
+    connect(ui.apmVerComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(apmVerCurrentIndexChanged(int)));
+
+    connect(ui.calcDividerLineEdit,SIGNAL(editingFinished()),this,SLOT(calcDividerSet()));
+    connect(ui.ampsPerVoltsLineEdit,SIGNAL(editingFinished()),this,SLOT(ampsPerVoltSet()));
+    connect(ui.battCapacityLineEdit,SIGNAL(editingFinished()),this,SLOT(batteryCapacitySet()));
+
+    ui.alertOnLowCheckBox->setVisible(false);
+
+}
+void BatteryMonitorConfig::calcDividerSet()
+{
+    bool ok = false;
+    float newval = ui.calcDividerLineEdit->text().toFloat(&ok);
+    if (!ok)
+    {
+        //Error parsing;
+        QMessageBox::information(0,"Error","Invalid number entered for voltage divider. Please try again");
+        return;
+    }
+    m_uas->setParameter(0,"VOLT_DIVIDER",newval);
+}
+void BatteryMonitorConfig::ampsPerVoltSet()
+{
+    bool ok = false;
+    float newval = ui.ampsPerVoltsLineEdit->text().toFloat(&ok);
+    if (!ok)
+    {
+        //Error parsing;
+        QMessageBox::information(0,"Error","Invalid number entered for amps per volts. Please try again");
+        return;
+    }
+    m_uas->setParameter(0,"AMPS_PER_VOLT",newval);
+}
+void BatteryMonitorConfig::batteryCapacitySet()
+{
+    bool ok = false;
+    float newval = ui.battCapacityLineEdit->text().toFloat(&ok);
+    if (!ok)
+    {
+        //Error parsing;
+        QMessageBox::information(0,"Error","Invalid number entered for amps per volts. Please try again");
+        return;
+    }
+    m_uas->setParameter(0,"BATT_CAPACITY",newval);
+}
+
+void BatteryMonitorConfig::monitorCurrentIndexChanged(int index)
+{
+    if (!m_uas)
+    {
+        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        return;
+    }
+    if (index == 0)
+    {
+        m_uas->setParameter(0,"BATT_VOLT_PIN",-1);
+        m_uas->setParameter(0,"BATT_CURR_PIN",-1);
+        m_uas->setParameter(0,"BATT_MONITOR",0);
+        ui.sensorComboBox->setEnabled(false);
+        ui.apmVerComboBox->setEnabled(false);
+        ui.measuredVoltsLineEdit->setEnabled(false);
+        ui.measuredVoltsLineEdit->setEnabled(false);
+        ui.calcDividerLineEdit->setEnabled(false);
+        ui.calcVoltsLineEdit->setEnabled(false);
+        ui.ampsPerVoltsLineEdit->setEnabled(false);
+    }
+    else if (index == 1)
+    {
+        m_uas->setParameter(0,"BATT_MONITOR",3);
+        ui.sensorComboBox->setEnabled(false);
+        ui.apmVerComboBox->setEnabled(true);
+        ui.measuredVoltsLineEdit->setEnabled(true);
+        ui.calcDividerLineEdit->setEnabled(true);
+        ui.calcVoltsLineEdit->setEnabled(false);
+        ui.ampsPerVoltsLineEdit->setEnabled(false);
+    }
+    else if (index == 2)
+    {
+        m_uas->setParameter(0,"BATT_MONITOR",4);
+        ui.sensorComboBox->setEnabled(true);
+        ui.apmVerComboBox->setEnabled(true);
+        ui.measuredVoltsLineEdit->setEnabled(true);
+        ui.calcDividerLineEdit->setEnabled(true);
+        ui.calcVoltsLineEdit->setEnabled(false);
+        ui.ampsPerVoltsLineEdit->setEnabled(true);
+    }
+
+
+}
+void BatteryMonitorConfig::sensorCurrentIndexChanged(int index)
+{
+    float maxvolt = 0;
+    float maxamps = 0;
+    float mvpervolt = 0;
+    float mvperamp = 0;
+    float topvolt = 0;
+    float topamps = 0;
+
+    if (index == 1)
+    {
+        //atto 45
+        maxvolt = 13.6;
+        maxamps = 44.7;
+        mvpervolt = 242.3;
+        mvperamp = 73.20;
+    }
+    else if (index == 2)
+    {
+        //atto 90
+        maxvolt = 50;
+        maxamps = 89.4;
+        mvpervolt = 63.69;
+        mvperamp = 36.60;
+    }
+    else if (index == 3)
+    {
+        //atto 180
+        maxvolt = 50;
+        maxamps = 178.8;
+        mvpervolt = 63.69;
+        mvperamp = 18.30;
+    }
+    else if (index == 4)
+    {
+        //3dr
+        maxvolt = 50;
+        maxamps = 90;
+        mvpervolt = 100;
+        mvperamp = 55.55;
+    }
+    if (index == 0)
+    {
+        //Other
+        ui.ampsPerVoltsLineEdit->setEnabled(true);
+        ui.calcDividerLineEdit->setEnabled(true);
+        ui.measuredVoltsLineEdit->setEnabled(true);
+    }
+    else
+    {
+        topvolt = (maxvolt * mvpervolt) / 1000.0;
+        topamps = (maxamps * mvperamp) / 1000.0;
+
+        ui.calcDividerLineEdit->setText(QString::number(maxvolt/topvolt));
+        ui.ampsPerVoltsLineEdit->setText(QString::number(maxamps / topamps));
+        ui.ampsPerVoltsLineEdit->setEnabled(false);
+        ui.calcDividerLineEdit->setEnabled(false);
+        ui.measuredVoltsLineEdit->setEnabled(false);
+    }
+}
+
+void BatteryMonitorConfig::apmVerCurrentIndexChanged(int index)
+{
+
 }
 
 BatteryMonitorConfig::~BatteryMonitorConfig()
 {
 }
+
+void BatteryMonitorConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
+{
+    if (parameterName == "VOLT_DIVIDER")
+    {
+        ui.calcDividerLineEdit->setText(QString::number(value.toFloat(),'f',4));
+    }
+    else if (parameterName == "AMP_PER_VOLT")
+    {
+        ui.ampsPerVoltsLineEdit->setText(QString::number(value.toFloat(),'g',2));
+
+    }
+    else if (parameterName == "BATT_MONITOR")
+    {
+        if (value.toInt() == 0) //0: Disable
+        {
+            ui.monitorComboBox->setCurrentIndex(0);
+        }
+        else if (value.toInt() == 3) //3: Battery volts
+        {
+            ui.monitorComboBox->setCurrentIndex(1);
+        }
+        else if (value.toInt() == 4) //4: Voltage and Current
+        {
+            ui.monitorComboBox->setCurrentIndex(2);
+        }
+
+    }
+    else if (parameterName == "BATT_CAPACITY")
+    {
+        ui.battCapacityLineEdit->setText(QString::number(value.toFloat()));
+    }
+    else if (parameterName == "BATT_VOLT_PIN")
+    {
+        int ivalue = value.toInt();
+        if (ivalue == 0) //APM1
+        {
+            ui.apmVerComboBox->setCurrentIndex(0);
+        }
+        else if (ivalue == 1) //APM2
+        {
+            ui.apmVerComboBox->setCurrentIndex(1);
+        }
+        else if (ivalue == 13) //APM2.5
+        {
+            ui.apmVerComboBox->setCurrentIndex(2);
+        }
+        else if (ivalue == 100) //PX4
+        {
+            ui.apmVerComboBox->setCurrentIndex(3);
+        }
+    }
+    else if (parameterName == "BATT_CURR_PIN")
+    {
+        //Unused at the moment, everything is off BATT_VOLT_PIN
+    }
+}

src/ui/configuration/BatteryMonitorConfig.h

@@ -2,16 +2,24 @@
 #define BATTERYMONITORCONFIG_H
 
 #include <QWidget>
+#include "AP2ConfigWidget.h"
 #include "ui_BatteryMonitorConfig.h"
 
-class BatteryMonitorConfig : public QWidget
+class BatteryMonitorConfig : public AP2ConfigWidget
 {
     Q_OBJECT
     
 public:
     explicit BatteryMonitorConfig(QWidget *parent = 0);
     ~BatteryMonitorConfig();
-    
+private slots:
+    void parameterChanged(int uas, int component, QString parameterName, QVariant value);
+    void monitorCurrentIndexChanged(int index);
+    void sensorCurrentIndexChanged(int index);
+    void apmVerCurrentIndexChanged(int index);
+    void calcDividerSet();
+    void ampsPerVoltSet();
+    void batteryCapacitySet();
 private:
     Ui::BatteryMonitorConfig ui;
 };

src/ui/configuration/BatteryMonitorConfig.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>400</width>
-    <height>300</height>
+    <width>745</width>
+    <height>494</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -29,7 +29,203 @@
     <bool>false</bool>
    </property>
   </widget>
+  <widget class="QLabel" name="label_2">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>70</y>
+     <width>141</width>
+     <height>51</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string/>
+   </property>
+   <property name="pixmap">
+    <pixmap resource="../../../qgroundcontrol.qrc">:/files/images/devices/BR-APMPWRDEAN-2.jpg</pixmap>
+   </property>
+   <property name="scaledContents">
+    <bool>true</bool>
+   </property>
+  </widget>
+  <widget class="QCheckBox" name="alertOnLowCheckBox">
+   <property name="geometry">
+    <rect>
+     <x>480</x>
+     <y>120</y>
+     <width>70</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>CheckBox</string>
+   </property>
+  </widget>
+  <widget class="QGroupBox" name="groupBox">
+   <property name="geometry">
+    <rect>
+     <x>160</x>
+     <y>170</y>
+     <width>241</width>
+     <height>141</height>
+    </rect>
+   </property>
+   <property name="title">
+    <string>Calibration</string>
+   </property>
+   <layout class="QHBoxLayout" name="horizontalLayout_2">
+    <item>
+     <layout class="QHBoxLayout" name="horizontalLayout">
+      <item>
+       <layout class="QVBoxLayout" name="verticalLayout_2">
+        <item>
+         <widget class="QLabel" name="label_9">
+          <property name="text">
+           <string>1. Measured battery voltage:</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_8">
+          <property name="text">
+           <string>2. Battery voltage (Calc'ed):</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_10">
+          <property name="text">
+           <string>3. Voltage divider (Calc'ed):</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_11">
+          <property name="text">
+           <string>4. Amperes per volt:</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <layout class="QVBoxLayout" name="verticalLayout">
+        <item>
+         <widget class="QLineEdit" name="measuredVoltsLineEdit">
+          <property name="readOnly">
+           <bool>false</bool>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLineEdit" name="calcVoltsLineEdit">
+          <property name="readOnly">
+           <bool>false</bool>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLineEdit" name="calcDividerLineEdit">
+          <property name="readOnly">
+           <bool>false</bool>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLineEdit" name="ampsPerVoltsLineEdit">
+          <property name="readOnly">
+           <bool>false</bool>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QWidget" name="horizontalLayoutWidget_2">
+   <property name="geometry">
+    <rect>
+     <x>160</x>
+     <y>70</y>
+     <width>281</width>
+     <height>80</height>
+    </rect>
+   </property>
+   <layout class="QHBoxLayout" name="horizontalLayout_3" stretch="0,1">
+    <item>
+     <layout class="QVBoxLayout" name="verticalLayout_4">
+      <item>
+       <widget class="QLabel" name="label_3">
+        <property name="text">
+         <string>Monitor</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_4">
+        <property name="text">
+         <string>Sensor</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_5">
+        <property name="text">
+         <string>APM Version</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item>
+     <layout class="QVBoxLayout" name="verticalLayout_3">
+      <item>
+       <widget class="QComboBox" name="monitorComboBox"/>
+      </item>
+      <item>
+       <widget class="QComboBox" name="sensorComboBox"/>
+      </item>
+      <item>
+       <widget class="QComboBox" name="apmVerComboBox"/>
+      </item>
+     </layout>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QWidget" name="horizontalLayoutWidget_3">
+   <property name="geometry">
+    <rect>
+     <x>470</x>
+     <y>70</y>
+     <width>195</width>
+     <height>41</height>
+    </rect>
+   </property>
+   <layout class="QHBoxLayout" name="horizontalLayout_4">
+    <item>
+     <widget class="QLabel" name="label_13">
+      <property name="text">
+       <string>Battery Capacity:</string>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QLineEdit" name="battCapacityLineEdit"/>
+    </item>
+    <item>
+     <widget class="QLabel" name="label_12">
+      <property name="text">
+       <string>mAh</string>
+      </property>
+     </widget>
+    </item>
+   </layout>
+  </widget>
  </widget>
- <resources/>
+ <resources>
+  <include location="../../../qgroundcontrol.qrc"/>
+ </resources>
  <connections/>
 </ui>