Merge pull request #3415 from DonLakeFlyer/VTOLHandling

Fix/Review VTOL handling

src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc

@@ -31,7 +31,6 @@
 APMFlightModesComponentController::APMFlightModesComponentController(void)
     : _activeFlightMode(0)
     , _channelCount(Vehicle::cMaxRcChannels)
-    , _fixedWing(_vehicle->vehicleType() == MAV_TYPE_FIXED_WING)
 {
     QStringList usedParams;
     usedParams << QStringLiteral("FLTMODE1") << QStringLiteral("FLTMODE2") << QStringLiteral("FLTMODE3")

src/AutoPilotPlugins/APM/APMFlightModesComponentController.h

@@ -45,7 +45,6 @@ public:
     Q_PROPERTY(int      activeFlightMode            READ activeFlightMode       NOTIFY activeFlightModeChanged)
     Q_PROPERTY(int      channelCount                MEMBER _channelCount        CONSTANT)
     Q_PROPERTY(QVariantList channelOptionEnabled    READ channelOptionEnabled   NOTIFY channelOptionEnabledChanged)
-    Q_PROPERTY(bool     fixedWing                   MEMBER _fixedWing           CONSTANT)
 
     int activeFlightMode(void) const { return _activeFlightMode; }
     QVariantList channelOptionEnabled(void) const { return _rgChannelOptionEnabled; }
@@ -61,7 +60,6 @@ private:
     int             _activeFlightMode;
     int             _channelCount;
     QVariantList    _rgChannelOptionEnabled;
-    bool            _fixedWing;
 };
 
 #endif

src/AutoPilotPlugins/APM/APMSensorsComponentController.cc

@@ -430,23 +430,6 @@ void APMSensorsComponentController::_refreshParams(void)
     _autopilot->refreshParametersPrefix(FactSystem::defaultComponentId, QStringLiteral("INS_"));
 }
 
-bool APMSensorsComponentController::fixedWing(void)
-{
-    switch (_vehicle->vehicleType()) {
-    case MAV_TYPE_FIXED_WING:
-    case MAV_TYPE_VTOL_DUOROTOR:
-    case MAV_TYPE_VTOL_QUADROTOR:
-    case MAV_TYPE_VTOL_TILTROTOR:
-    case MAV_TYPE_VTOL_RESERVED2:
-    case MAV_TYPE_VTOL_RESERVED3:
-    case MAV_TYPE_VTOL_RESERVED4:
-    case MAV_TYPE_VTOL_RESERVED5:
-        return true;
-    default:
-        return false;
-    }
-}
-
 void APMSensorsComponentController::_updateAndEmitShowOrientationCalArea(bool show)
 {
     _showOrientationCalArea = show;

src/AutoPilotPlugins/APM/APMSensorsComponentController.h

@@ -42,8 +42,6 @@ class APMSensorsComponentController : public FactPanelController
 public:
     APMSensorsComponentController(void);
 
-    Q_PROPERTY(bool fixedWing READ fixedWing CONSTANT)
-    
     Q_PROPERTY(QQuickItem* statusLog MEMBER _statusLog)
     Q_PROPERTY(QQuickItem* progressBar MEMBER _progressBar)
     
@@ -93,8 +91,6 @@ public:
     Q_INVOKABLE void cancelCalibration(void);
     Q_INVOKABLE void nextClicked(void);
 
-    bool fixedWing(void);
-
     bool compassSetupNeeded(void) const;
     bool accelSetupNeeded(void) const;
     

src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.cc

@@ -61,7 +61,7 @@ PX4AdvancedFlightModesController::PX4AdvancedFlightModesController(void) :
 void PX4AdvancedFlightModesController::_init(void)
 {
     // FIXME: What about VTOL? That confuses the whole Flight Mode naming scheme
-    _fixedWing = _vehicle->vehicleType() == MAV_TYPE_FIXED_WING;
+    _fixedWing = _vehicle->fixedWing();
     
     // We need to know min and max for channel in order to calculate percentage range
     for (int channel=0; channel<_chanMax; channel++) {

src/AutoPilotPlugins/PX4/SensorsComponent.cc

@@ -75,7 +75,7 @@ QStringList SensorsComponent::setupCompleteChangedTriggerList(void) const
     QStringList triggers;
     
     triggers << "CAL_MAG0_ID" << "CAL_GYRO0_ID" << "CAL_ACC0_ID" << "CBRK_AIRSPD_CHK";
-    if (_vehicle->fixedWing() && _autopilot->getParameterFact(FactSystem::defaultComponentId, _airspeedBreaker)->rawValue().toInt() != 162128) {
+    if ((_vehicle->fixedWing() || _vehicle->vtol()) && _autopilot->getParameterFact(FactSystem::defaultComponentId, _airspeedBreaker)->rawValue().toInt() != 162128) {
         triggers << "SENS_DPRES_OFF";
     }
     
@@ -91,16 +91,10 @@ QUrl SensorsComponent::summaryQmlSource(void) const
 {
     QString summaryQml;
     
-    switch (_vehicle->vehicleType()) {
-        case MAV_TYPE_FIXED_WING:
-        case MAV_TYPE_VTOL_DUOROTOR:
-        case MAV_TYPE_VTOL_QUADROTOR:
-        case MAV_TYPE_VTOL_TILTROTOR:
-            summaryQml = "qrc:/qml/SensorsComponentSummaryFixedWing.qml";
-            break;
-        default:
-            summaryQml = "qrc:/qml/SensorsComponentSummary.qml";
-            break;
+    if (_vehicle->fixedWing() || _vehicle->vtol()) {
+        summaryQml = "qrc:/qml/SensorsComponentSummaryFixedWing.qml";
+    } else {
+        summaryQml = "qrc:/qml/SensorsComponentSummary.qml";
     }
     
     return QUrl::fromUserInput(summaryQml);

src/AutoPilotPlugins/PX4/SensorsComponent.qml

@@ -348,7 +348,7 @@ QGCView {
                     id:             airspeedButton
                     width:          parent.buttonWidth
                     text:           qsTr("Airspeed")
-                    visible:        controller.vehicle.fixedWing && controller.getParameterFact(-1, "CBRK_AIRSPD_CHK").value != 162128
+                    visible:        (controller.vehicle.fixedWing || controller.vehicle.vtol) && controller.getParameterFact(-1, "CBRK_AIRSPD_CHK").value != 162128
                     indicatorGreen: sens_dpres_off.value != 0
 
                     onClicked: {

src/Vehicle/Vehicle.cc

@@ -1445,6 +1445,22 @@ bool Vehicle::multiRotor(void) const
     }
 }
 
+bool Vehicle::vtol(void) const
+{
+    switch (vehicleType()) {
+    case MAV_TYPE_VTOL_DUOROTOR:
+    case MAV_TYPE_VTOL_QUADROTOR:
+    case MAV_TYPE_VTOL_TILTROTOR:
+    case MAV_TYPE_VTOL_RESERVED2:
+    case MAV_TYPE_VTOL_RESERVED3:
+    case MAV_TYPE_VTOL_RESERVED4:
+    case MAV_TYPE_VTOL_RESERVED5:
+        return true;
+    default:
+        return false;
+    }
+}
+
 void Vehicle::_setCoordinateValid(bool coordinateValid)
 {
     if (coordinateValid != _coordinateValid) {

src/Vehicle/Vehicle.h

@@ -285,6 +285,7 @@ public:
     Q_PROPERTY(uint                 messagesLost            READ messagesLost                           NOTIFY messagesLostChanged)
     Q_PROPERTY(bool                 fixedWing               READ fixedWing                              CONSTANT)
     Q_PROPERTY(bool                 multiRotor              READ multiRotor                             CONSTANT)
+    Q_PROPERTY(bool                 vtol                    READ vtol                                   CONSTANT)
     Q_PROPERTY(bool                 autoDisconnect          MEMBER _autoDisconnect                      NOTIFY autoDisconnectChanged)
     Q_PROPERTY(QString              prearmError             READ prearmError        WRITE setPrearmError NOTIFY prearmErrorChanged)
 
@@ -457,6 +458,7 @@ public:
 
     bool fixedWing(void) const;
     bool multiRotor(void) const;
+    bool vtol(void) const;
 
     void setFlying(bool flying);
     void setGuidedMode(bool guidedMode);