Merge pull request #1785 from mavlink/uavcan_config

UAVCAN config button

v1.0 @ c390a63a

-Subproject commit d23a551e108d92c7a49a66d162cb9d542bbe6be1
+Subproject commit c390a63abfce15af0629bdf207c4b6a183fed118

src/AutoPilotPlugins/PX4/PowerComponent.qml

@@ -263,6 +263,37 @@ QGCView {
                 }
             }
 
+            QGCLabel {
+                text:           "UAVCAN ESC Configuration"
+                font.pixelSize: ScreenTools.mediumFontPixelSize
+            }
+
+            Rectangle {
+                width:              parent.width
+                height:             140
+                color:              palette.windowShade
+
+                Column {
+                    anchors.margins:    10
+                    anchors.fill:       parent
+                    spacing:            10
+
+                    QGCLabel {
+                        color:  "yellow"
+                        text:   "<font color=\"yellow\">WARNING: Propellers must be removed from vehicle prior to performing UAVCAN ESC configuration.</font>"
+                    }
+
+                    QGCLabel {
+                        text: "You must use USB connection for this operation."
+                    }
+
+                    QGCButton {
+                        text:       "Configure"
+                        onClicked:  controller.busConfigureActuators()
+                    }
+                }
+            }
+
             /*
              * This is disabled for now
             Row {

src/AutoPilotPlugins/PX4/PowerComponentController.cc

@@ -49,11 +49,23 @@ void PowerComponentController::calibrateEsc(void)
     _uas->startCalibration(UASInterface::StartCalibrationEsc);
 }
 
+void PowerComponentController::busConfigureActuators(void)
+{
+    _warningMessages.clear();
+    connect(_uas, &UASInterface::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
+    _uas->startBusConfig(UASInterface::StartBusConfigActuators);
+}
+
 void PowerComponentController::_stopCalibration(void)
 {
     disconnect(_uas, &UASInterface::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
 }
 
+void PowerComponentController::_stopBusConfig(void)
+{
+    _stopCalibration();
+}
+
 void PowerComponentController::_handleUASTextMessage(int uasId, int compId, int severity, QString text)
 {
     Q_UNUSED(compId);
@@ -130,8 +142,28 @@ void PowerComponentController::_handleUASTextMessage(int uasId, int compId, int
         return;
     }
     
-    QString warningPrefix("calibration warning: ");
+    QString warningPrefix("config warning: ");
     if (text.startsWith(warningPrefix)) {
         _warningMessages << text.right(text.length() - warningPrefix.length());
     }
+
+    QString busFailedPrefix("bus conf fail:");
+    if (text.startsWith(busFailedPrefix)) {
+
+        _stopBusConfig();
+        emit calibrationFailed(text.right(text.length() - failedPrefix.length()));
+        return;
+    }
+
+    QString busCompletePrefix("bus conf done:");
+    if (text.startsWith(calCompletePrefix)) {
+        _stopBusConfig();
+        emit calibrationSuccess(_warningMessages);
+        return;
+    }
+
+    QString busWarningPrefix("bus conf warn: ");
+    if (text.startsWith(busWarningPrefix)) {
+        _warningMessages << text.right(text.length() - warningPrefix.length());
+    }
 }

src/AutoPilotPlugins/PX4/PowerComponentController.h

@@ -43,6 +43,7 @@ public:
     ~PowerComponentController();
     
     Q_INVOKABLE void calibrateEsc(void);
+    Q_INVOKABLE void busConfigureActuators(void);
     
 signals:
     void oldFirmware(void);
@@ -59,6 +60,7 @@ private slots:
     
 private:
     void _stopCalibration(void);
+    void _stopBusConfig(void);
     
     QStringList _warningMessages;
     static const int _neededFirmwareRev = 1;

src/uas/UAS.cc

@@ -1515,6 +1515,9 @@ void UAS::startCalibration(UASInterface::StartCalibrationType calType)
         case StartCalibrationEsc:
             escCal = 1;
             break;
+        case StartCalibrationUavcanEsc:
+            escCal = 2;
+            break;
     }
     
     mavlink_message_t msg;
@@ -1555,6 +1558,54 @@ void UAS::stopCalibration(void)
     sendMessage(msg);
 }
 
+void UAS::startBusConfig(UASInterface::StartBusConfigType calType)
+{
+    int actuatorCal = 0;
+
+    switch (calType) {
+        case StartBusConfigActuators:
+            actuatorCal = 1;
+            break;
+    }
+
+    mavlink_message_t msg;
+    mavlink_msg_command_long_pack(mavlink->getSystemId(),
+                                  mavlink->getComponentId(),
+                                  &msg,
+                                  uasId,
+                                  0,                                // target component
+                                  MAV_CMD_PREFLIGHT_UAVCAN,    // command id
+                                  0,                                // 0=first transmission of command
+                                  actuatorCal,                      // actuators
+                                  0,
+                                  0,
+                                  0,
+                                  0,
+                                  0,
+                                  0);
+    sendMessage(msg);
+}
+
+void UAS::stopBusConfig(void)
+{
+    mavlink_message_t msg;
+    mavlink_msg_command_long_pack(mavlink->getSystemId(),
+                                  mavlink->getComponentId(),
+                                  &msg,
+                                  uasId,
+                                  0,                                // target component
+                                  MAV_CMD_PREFLIGHT_UAVCAN,    // command id
+                                  0,                                // 0=first transmission of command
+                                  0,
+                                  0,
+                                  0,
+                                  0,
+                                  0,
+                                  0,
+                                  0);
+    sendMessage(msg);
+}
+
 void UAS::startDataRecording()
 {
     mavlink_message_t msg;

src/uas/UAS.h

@@ -916,6 +916,9 @@ public slots:
     void startCalibration(StartCalibrationType calType);
     void stopCalibration(void);
 
+    void startBusConfig(StartBusConfigType calType);
+    void stopBusConfig(void);
+
     void startDataRecording();
     void stopDataRecording();
     void deleteSettings();

src/uas/UASInterface.h

@@ -249,7 +249,12 @@ public:
         StartCalibrationAccel,
         StartCalibrationLevel,
         StartCalibrationEsc,
-        StartCalibrationCopyTrims
+        StartCalibrationCopyTrims,
+        StartCalibrationUavcanEsc
+    };
+
+    enum StartBusConfigType {
+        StartBusConfigActuators
     };
     
     /// Starts the specified calibration
@@ -258,6 +263,12 @@ public:
     /// Ends any current calibration
     virtual void stopCalibration(void) = 0;
 
+    /// Starts the specified bus configuration
+    virtual void startBusConfig(StartBusConfigType calType) = 0;
+
+    /// Ends any current bus configuration
+    virtual void stopBusConfig(void) = 0;
+
 public slots:
 
     /** @brief Set a new name for the system */