Merge pull request #7330 from DonLakeFlyer/master

ArduCopter 3.7 CH#_OPT -> RC#_OPTION name change

ChangeLog.md

@@ -6,6 +6,7 @@ Note: This file only contains high level features or important fixes.
 
 ### 3.6.0 - Daily Build
 
+* ArduCopter: Handle 3.7 parameter name change from CH#_OPT to RC#_OPTION.
 * Improved support for flashing/connecting to ChibiOS bootloaders boards.
 * Making the camera API available to all firmwares, not just PX4.
 * ArduPilot: Support configurable mavlink stream rates. Available from Settings/Mavlink page.

src/AutoPilotPlugins/APM/APMTuningComponent.cc

@@ -60,10 +60,7 @@ QUrl APMTuningComponent::setupSource(void) const
         case MAV_TYPE_HEXAROTOR:
         case MAV_TYPE_OCTOROTOR:
         case MAV_TYPE_TRICOPTER:
-            // Older firmwares do not have CH9_OPT, we don't support Tuning on older firmwares
-            if (_vehicle->parameterManager()->parameterExists(-1, QStringLiteral("CH9_OPT"))) {
             qmlFile = QStringLiteral("qrc:/qml/APMTuningComponentCopter.qml");
-            }
             break;
         case MAV_TYPE_SUBMARINE:
             qmlFile = QStringLiteral("qrc:/qml/APMTuningComponentSub.qml");

src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml

@@ -43,12 +43,12 @@ SetupPage {
             property Fact _rateClimbP:          controller.getParameterFact(-1, "r.PSC_ACCZ_P")
             property Fact _rateClimbI:          controller.getParameterFact(-1, "r.PSC_ACCZ_I")
 
-            property Fact _ch7Opt:  controller.getParameterFact(-1, "CH7_OPT")
-            property Fact _ch8Opt:  controller.getParameterFact(-1, "CH8_OPT")
-            property Fact _ch9Opt:  controller.getParameterFact(-1, "CH9_OPT")
-            property Fact _ch10Opt: controller.getParameterFact(-1, "CH10_OPT")
-            property Fact _ch11Opt: controller.getParameterFact(-1, "CH11_OPT")
-            property Fact _ch12Opt: controller.getParameterFact(-1, "CH12_OPT")
+            property Fact _ch7Opt:  controller.getParameterFact(-1, "r.RC7_OPTION")
+            property Fact _ch8Opt:  controller.getParameterFact(-1, "r.RC8_OPTION")
+            property Fact _ch9Opt:  controller.getParameterFact(-1, "r.RC9_OPTION")
+            property Fact _ch10Opt: controller.getParameterFact(-1, "r.RC10_OPTION")
+            property Fact _ch11Opt: controller.getParameterFact(-1, "r.RC11_OPTION")
+            property Fact _ch12Opt: controller.getParameterFact(-1, "r.RC12_OPTION")
 
             readonly property int   _firstOptionChannel:    7
             readonly property int   _lastOptionChannel:     12
@@ -84,12 +84,12 @@ SetupPage {
                 calcAutoTuneChannel()
             }
 
-            /// The AutoTune switch is stored in one of the CH#_OPT parameters. We need to loop through those
+            /// The AutoTune switch is stored in one of the RC#_OPTION parameters. We need to loop through those
             /// to find them and setup the ui accordindly.
             function calcAutoTuneChannel() {
                 _autoTuneSwitchChannelIndex = 0
                 for (var channel=_firstOptionChannel; channel<=_lastOptionChannel; channel++) {
-                    var optionFact = controller.getParameterFact(-1, "CH" + channel + "_OPT")
+                    var optionFact = controller.getParameterFact(-1, "r.RC" + channel + "_OPTION")
                     if (optionFact.value == _autoTuneOption) {
                         _autoTuneSwitchChannelIndex = channel - _firstOptionChannel + 1
                         break
@@ -101,7 +101,7 @@ SetupPage {
             function setChannelAutoTuneOption(channel) {
                 // First clear any previous settings for AutTune
                 for (var optionChannel=_firstOptionChannel; optionChannel<=_lastOptionChannel; optionChannel++) {
-                    var optionFact = controller.getParameterFact(-1, "CH" + optionChannel + "_OPT")
+                    var optionFact = controller.getParameterFact(-1, "r.RC" + optionChannel + "_OPTION")
                     if (optionFact.value == _autoTuneOption) {
                         optionFact.value = 0
                     }
@@ -109,7 +109,7 @@ SetupPage {
 
                 // Now set the function into the new channel
                 if (channel != 0) {
-                    var optionFact = controller.getParameterFact(-1, "CH" + channel + "_OPT")
+                    var optionFact = controller.getParameterFact(-1, "r.RC" + channel + "_OPTION")
                     optionFact.value = _autoTuneOption
                 }
             }
@@ -368,7 +368,7 @@ SetupPage {
 
                                 QGCLabel {
                                     anchors.baseline:   optCombo.baseline
-                                    text:               qsTr("Channel Option 6 (Tuning):")
+                                    text:               qsTr("RC Channel 6 Option (Tuning):")
                                     //color:            controller.channelOptionEnabled[modelData] ? "yellow" : qgcPal.text
                                 }
 

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -807,6 +807,9 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle)
     case MAV_TYPE_TRICOPTER:
     case MAV_TYPE_COAXIAL:
     case MAV_TYPE_HELICOPTER:
+        if (vehicle->versionCompare(3, 7, 0) >= 0) {  // 3.7.0 and higher
+             return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.7.xml");
+        }
         if (vehicle->versionCompare(3, 6, 0) >= 0) {  // 3.6.0 and higher
              return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.6.xml");
         }

src/FirmwarePlugin/APM/APMResources.qrc

@@ -49,6 +49,7 @@
         <file alias="APMParameterFactMetaData.Copter.3.4.xml">APMParameterFactMetaData.Copter.3.4.xml</file>
         <file alias="APMParameterFactMetaData.Copter.3.5.xml">APMParameterFactMetaData.Copter.3.5.xml</file>
         <file alias="APMParameterFactMetaData.Copter.3.6.xml">APMParameterFactMetaData.Copter.3.6.xml</file>
+        <file alias="APMParameterFactMetaData.Copter.3.7.xml">APMParameterFactMetaData.Copter.3.7.xml</file>
         <file alias="APMParameterFactMetaData.Rover.3.0.xml">APMParameterFactMetaData.Rover.3.0.xml</file>
         <file alias="APMParameterFactMetaData.Rover.3.2.xml">APMParameterFactMetaData.Rover.3.2.xml</file>
         <file alias="APMParameterFactMetaData.Rover.3.4.xml">APMParameterFactMetaData.Rover.3.4.xml</file>

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -162,6 +162,12 @@ ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(void)
 
         remapV3_7["BATT_ARM_VOLT"] =    QStringLiteral("ARMING_VOLT_MIN");
         remapV3_7["BATT2_ARM_VOLT"] =   QStringLiteral("ARMING_VOLT2_MIN");
+        remapV3_7["RC7_OPTION"] =       QStringLiteral("CH7_OPT");
+        remapV3_7["RC8_OPTION"] =       QStringLiteral("CH8_OPT");
+        remapV3_7["RC9_OPTION"] =       QStringLiteral("CH9_OPT");
+        remapV3_7["RC10_OPTION"] =      QStringLiteral("CH10_OPT");
+        remapV3_7["RC11_OPTION"] =      QStringLiteral("CH11_OPT");
+        remapV3_7["RC12_OPTION"] =      QStringLiteral("CH12_OPT");
 
         _remapParamNameIntialized = true;
     }

src/FirmwarePlugin/APM/BuildParamMetaData.sh

+cd ~/repos/ardupilot
+rm apm.pdef.xml
+./Tools/autotest/param_metadata/param_parse.py --vehicle ArduCopter
+cp apm.pdef.xml ~/repos/qgroundcontrol/src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.7.xml
+rm apm.pdef.xml
+cd ~/repos/qgroundcontrol/src/FirmwarePlugin/APM