Deal with new Parameters in ArduSub 3.6 and 4.0

src/AutoPilotPlugins/APM/APMTuningComponentSub.qml

@@ -105,27 +105,62 @@ SetupPage {
                 height:             velColumn.height + _margins*2
                 color:              palette.windowShade
 
+                Component {
+                    id: velColumnUpTo36
+                    Column {
+                        anchors.margins:    _margins
+                        anchors.left:       parent.left
+                        anchors.right:      parent.right
+                        anchors.top:        parent.top
+                        spacing:            _margins*1.5
+
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_POSXY_P") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_POSZ_P") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_VELXY_P") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_VELXY_I") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_VELXY_IMAX") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_VELZ_P") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_D") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_FILT") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_I") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_IMAX") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_P") }
+
+                    } // Column - VEL parameters
+                }
+                Component {
+                    id: velColumn40
                     Column {
-                    id:                 velColumn
                         anchors.margins:    _margins
                         anchors.left:       parent.left
                         anchors.right:      parent.right
                         anchors.top:        parent.top
                         spacing:            _margins*1.5
 
-                    FactTextFieldSlider { fact: controller.getParameterFact(-1, "POS_XY_P") }
-                    FactTextFieldSlider { fact: controller.getParameterFact(-1, "POS_Z_P") }
-                    FactTextFieldSlider { fact: controller.getParameterFact(-1, "VEL_XY_P") }
-                    FactTextFieldSlider { fact: controller.getParameterFact(-1, "VEL_XY_I") }
-                    FactTextFieldSlider { fact: controller.getParameterFact(-1, "VEL_XY_IMAX") }
-                    FactTextFieldSlider { fact: controller.getParameterFact(-1, "VEL_Z_P") }
-                    FactTextFieldSlider { fact: controller.getParameterFact(-1, "ACCEL_Z_D") }
-                    FactTextFieldSlider { fact: controller.getParameterFact(-1, "ACCEL_Z_FILT") }
-                    FactTextFieldSlider { fact: controller.getParameterFact(-1, "ACCEL_Z_I") }
-                    FactTextFieldSlider { fact: controller.getParameterFact(-1, "ACCEL_Z_IMAX") }
-                    FactTextFieldSlider { fact: controller.getParameterFact(-1, "ACCEL_Z_P") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_POSXY_P") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_POSZ_P") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_VELXY_P") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_VELXY_I") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_VELXY_IMAX") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_VELZ_P") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_D") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_FLTD") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_FLTE") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_FLTT") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_I") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_IMAX") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_P") }
 
                     } // Column - VEL parameters
+                }
+                Loader {
+                    id:                 velColumn
+                    anchors.left:       parent.left
+                    anchors.right:      parent.right
+                    anchors.top:        parent.top
+
+                    sourceComponent: activeVehicle.versionCompare(3, 6, 0) <= 0 ? velColumnUpTo36 :velColumnUpTo36
+                }
             } // Rectangle - VEL parameters
 
             Rectangle {
@@ -136,14 +171,17 @@ SetupPage {
                 height:             wpnavColumn.height + _margins*2
                 color:              palette.windowShade
 
+                // WPNAV parameters up to 3.5
+                Component {
+                    id: wpnavColumn35
                     Column {
-                    id:                 wpnavColumn
                         anchors.margins:    _margins
                         anchors.left:       parent.left
                         anchors.right:      parent.right
                         anchors.top:        parent.top
                         spacing:            _margins*1.5
 
+
                         FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_ACCEL") }
                         FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_ACCEL_Z") }
                         FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_LOIT_JERK") }
@@ -154,8 +192,42 @@ SetupPage {
                         FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_SPEED") }
                         FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_SPEED_DN") }
                         FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_SPEED_UP") }
+                    }
+                }
+
+                // WPNAV parameters for 3.6 and upwards
+                Component {
+                    id: wpnavColumn36
+                    Column {
+                        anchors.margins:    _margins
+                        anchors.left:       parent.left
+                        anchors.right:      parent.right
+                        anchors.top:        parent.top
+                        spacing:            _margins*1.5
+
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_ACCEL") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_ACCEL_Z") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_RADIUS") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_SPEED") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_SPEED_DN") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "WPNAV_SPEED_UP") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "LOIT_SPEED") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "LOIT_ACC_MAX") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "LOIT_ANG_MAX") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "LOIT_BRK_ACCEL") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "LOIT_BRK_DELAY") }
+                        FactTextFieldSlider { fact: controller.getParameterFact(-1, "LOIT_BRK_JERK") }
+                    }
+                }
 
-                } // Column - WPNAV parameters
+                Loader {
+                    id:                 wpnavColumn
+                    anchors.left:       parent.left
+                    anchors.right:      parent.right
+                    anchors.top:        parent.top
+
+                    sourceComponent: activeVehicle.versionCompare(3, 6, 0) < 0 ? wpnavColumn35 : wpnavColumn36
+                    }
             } // Rectangle - WPNAV parameters
         } // Column
     } // Component

src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc

@@ -118,6 +118,17 @@ ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void):
         remapV3_6["BATT_LOW_MAH"] = QStringLiteral("FS_BATT_MAH");
         remapV3_6["BATT_LOW_VOLT"] = QStringLiteral("FS_BATT_VOLTAGE");
         remapV3_6["BATT_FS_LOW_ACT"] = QStringLiteral("FS_BATT_ENABLE");
+        remapV3_6["PSC_POSXY_P"] = QStringLiteral("POS_XY_P");
+        remapV3_6["PSC_POSZ_P"] = QStringLiteral("POS_Z_P");
+        remapV3_6["PSC_VELXY_P"] = QStringLiteral("VEL_XY_P");
+        remapV3_6["PSC_VELXY_I"] = QStringLiteral("VEL_XY_I");
+        remapV3_6["PSC_VELXY_IMAX"] = QStringLiteral("VEL_XY_IMAX");
+        remapV3_6["PSC_VELZ_P"] = QStringLiteral("VEL_Z_P");
+        remapV3_6["PSC_ACCZ_I"] = QStringLiteral("ACCEL_Z_I");
+        remapV3_6["PSC_ACCZ_D"] = QStringLiteral("ACCEL_Z_D");
+        remapV3_6["PSC_ACCZ_P"] = QStringLiteral("ACCEL_Z_P");
+        remapV3_6["PSC_ACCZ_IMAX"] = QStringLiteral("ACCEL_Z_IMAX");
+        remapV3_6["PSC_ACCZ_FILT"] = QStringLiteral("ACCEL_Z_FILT");
 
         _remapParamNameIntialized = true;
     }