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Commit 2306566c authored by Don Gagne's avatar Don Gagne
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Merge pull request #1618 from DonLakeFlyer/Acro 

Acro switch support
parents 021e60c4 aa432752
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Showing with 91 additions and 11 deletions
src/AutoPilotPlugins/PX4/FlightModesComponent.qml
View file @ 2306566c
......@@ -62,6 +62,7 @@ Item {
property Fact rc_map_return_sw: controller.getParameterFact(-1, "RC_MAP_RETURN_SW")
property Fact rc_map_offboard_sw: controller.getParameterFact(-1, "RC_MAP_OFFB_SW")
property Fact rc_map_loiter_sw: controller.getParameterFact(-1, "RC_MAP_LOITER_SW")
property Fact rc_map_acro_sw: controller.getParameterFact(-1, "RC_MAP_ACRO_SW")
property Fact rc_assist_th: controller.getParameterFact(-1, "RC_ASSIST_TH")
property Fact rc_posctl_th: controller.getParameterFact(-1, "RC_POSCTL_TH")
......@@ -69,6 +70,7 @@ Item {
property Fact rc_loiter_th: controller.getParameterFact(-1, "RC_LOITER_TH")
property Fact rc_return_th: controller.getParameterFact(-1, "RC_RETURN_TH")
property Fact rc_offboard_th: controller.getParameterFact(-1, "RC_OFFB_TH")
property Fact rc_acro_th: controller.getParameterFact(-1, "RC_ACRO_TH")
property Fact rc_th_user: controller.getParameterFact(-1, "RC_TH_USER")
......@@ -85,6 +87,7 @@ Item {
property int returnChannel: rc_map_return_sw.value
property int offboardChannel: rc_map_offboard_sw.value
property int loiterChannel: rc_map_loiter_sw.value
property int acroChannel: rc_map_acro_sw.value
property real rcThUserValue: rc_th_user.value
......@@ -277,6 +280,7 @@ Item {
onOffboardChannelChanged: if (!inRedistribution) redistributeThresholds()
onLoiterChannelChanged: if (!inRedistribution) redistributeThresholds()
onPosCtlChannelChanged: if (!inRedistribution) redistributeThresholds()
onAcroChannelChanged: if (!inRedistribution) redistributeThresholds()
onRcThUserValue: if (!inRedistribution) redistributeThresholds()
function redistributeThresholds() {
......@@ -290,9 +294,11 @@ Item {
var loiterOnModeSwitch = modeChannel == loiterChannel
var posCtlOnModeSwitch = modeChannel == posCtlChannel
var acroOnModeSwitch = modeChannel == acroChannel
positions += loiterOnModeSwitch ? 1 : 0
positions += posCtlOnModeSwitch ? 1 : 0
positions += acroOnModeSwitch ? 1 : 0
var increment = 1.0 / positions
var currentThreshold = 0.0
......@@ -300,12 +306,18 @@ Item {
// Make sure we don't re-enter
inRedistribution = true
if (acroOnModeSwitch) {
currentThreshold += increment
rc_acro_th.value = currentThreshold
}
currentThreshold += increment
rc_assist_th.value = currentThreshold
if (posCtlOnModeSwitch) {
currentThreshold += increment
rc_posctl_th.value = currentThreshold
}
currentThreshold += increment
rc_auto_th.value = currentThreshold
if (loiterOnModeSwitch) {
......@@ -355,6 +367,16 @@ Item {
inRedistribution = false
}
if (acroChannel != 0 & acroChannel != modeChannel) {
inRedistribution = true
// If only two positions don't set threshold at midrange. Setting to 0.25
// allows for this channel to work with either two or three position switch
rc_acro_th.value = 0.25
inRedistribution = false
}
}
Column {
......@@ -369,7 +391,7 @@ Item {
QGCLabel {
width: parent.width
text: "The Main Mode, Loiter and PostCtl switches can be assigned to any channel which is not currently being used for attitude control. The Return and Offboard switches must be assigned to their seperate channel. " +
text: "The Main Mode, Loiter, PostCtl and Acro switches can be assigned to any channel which is not currently being used for attitude control. The Return and Offboard switches must be assigned to their seperate channel. " +
"All channels are displayed below. " +
"You can drag Flight Modes from the Flight Modes section below to a channel and drop it there. You can also drag switches assigned to a channel " +
"to another channel or back to the Unassigned Switches section. The Switch Display section at the very bottom will show you the results of your Flight Mode setup."
......@@ -403,9 +425,10 @@ Item {
property bool returnMapped: channel == returnChannel
property bool offboardMapped: channel == offboardChannel
property bool loiterMapped: channel == loiterChannel
property bool acroMapped: channel == acroChannel
property bool nonFlightModeMapping: throttleMapped | yawMapped | pitchMapped | rollMapped | flapsMapped | aux1Mapped | aux2Mapped
property bool unassignedMapping: !(nonFlightModeMapping | modeMapped | posCtlMapped | returnMapped | offboardMapped | loiterMapped)
property bool unassignedMapping: !(nonFlightModeMapping | modeMapped | posCtlMapped | returnMapped | offboardMapped | loiterMapped | acroMapped)
property bool singleSwitchMapping: returnMapped | offboardMapped
id: channelTarget
......@@ -554,6 +577,16 @@ Item {
visible: posCtlMapped
sourceComponent: assignedModeTileComponent
}
Loader {
property string tileLabel: "Acro/Stabilize"
property bool tileVisible: visible
property bool tileDragEnabled: true
property string tileParam: "RC_MAP_ACRO_SW"
property bool singleSwitchRequired: false
visible: acroMapped
sourceComponent: assignedModeTileComponent
}
}
DropArea {
......@@ -607,6 +640,12 @@ Item {
property bool singleSwitchRequired: false
sourceComponent: unassignedModeTileComponent
}
Loader {
property string tileLabel: "Acro/Stabilize"
property string tileParam: "RC_MAP_ACRO_SW"
property bool singleSwitchRequired: false
sourceComponent: unassignedModeTileComponent
}
Loader {
property string tileLabel: "Return"
property string tileParam: "RC_MAP_RETURN_SW"
......@@ -654,6 +693,7 @@ Item {
property bool modeSwitchVisible: modeChannel != 0
property bool loiterSwitchVisible: loiterChannel != 0 && loiterChannel != modeChannel && loiterChannel != returnChannel
property bool posCtlSwitchVisible: posCtlChannel != 0 && posCtlChannel != modeChannel
property bool acroSwitchVisible: acroChannel != 0 && acroChannel != modeChannel
property bool returnSwitchVisible: returnChannel != 0
property bool offboardSwitchVisible: offboardChannel != 0
......@@ -726,6 +766,14 @@ Item {
text: "Assist: AltCtl"
}
QGCLabel {
width: parent.width
y: (parent.height * (1.0 - rc_acro_th.value)) - (implicitHeight / 2)
visible: modeChannel == acroChannel
horizontalAlignment: Text.AlignRight
text: "Acro/Stabilize"
}
QGCLabel {
width: parent.width
y: parent.height - (implicitHeight / 2)
......@@ -808,6 +856,39 @@ Item {
}
}
Column {
visible: parent.acroSwitchVisible
QGCLabel { text: "Acro/Stabilize Switch" }
Row {
Item {
height: progressBarHeight
width: 150
QGCLabel {
width: parent.width
y: (parent.height * (1.0 - rc_acro_th.value)) - (implicitHeight / 2)
horizontalAlignment: Text.AlignRight
text: "Acro/Stabilize"
}
QGCLabel {
width: parent.width
y: parent.height - (implicitHeight / 2)
horizontalAlignment: Text.AlignRight
text: "Manual"
}
}
ProgressBar {
height: progressBarHeight
orientation: Qt.Vertical
value: controller.acroSwitchLiveRange
}
}
}
Column {
visible: parent.returnSwitchVisible
......@@ -828,7 +909,6 @@ Item {
QGCLabel {
width: parent.width
y: parent.height - (implicitHeight / 2)
visible: returnChannel != loiterChannel
horizontalAlignment: Text.AlignRight
text: "Return Off"
}
......
src/AutoPilotPlugins/PX4/FlightModesComponentController.cc
View file @ 2306566c
......@@ -72,19 +72,13 @@ void FlightModesComponentController::_validateConfiguration(void)
_channelCount = _chanMax;
}
// Acro is not full supported yet. If Acro is mapped you uhave to set up the hard way.
if (getParameterFact(FactSystem::defaultComponentId, "RC_MAP_ACRO_SW")->value().toInt() != 0) {
_validConfiguration = false;
_configurationErrors += "Flight Mode setup does not yet support Acro switch";
}
// Make sure switches are valid and within channel range
QStringList switchParams, switchNames;
QList<int> switchMappings;
switchParams << "RC_MAP_MODE_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_POSCTL_SW" << "RC_MAP_OFFB_SW";
switchNames << "Mode Switch" << "Return Switch" << "Loiter Switch" << "PosCtl Switch" << "Offboard Switch";
switchParams << "RC_MAP_MODE_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_POSCTL_SW" << "RC_MAP_OFFB_SW" << "RC_MAP_ACRO_SW";
switchNames << "Mode Switch" << "Return Switch" << "Loiter Switch" << "PosCtl Switch" << "Offboard Switch" << "Acro Switch";
for(int i=0; i<switchParams.count(); i++) {
int map = getParameterFact(FactSystem::defaultComponentId, switchParams[i])->value().toInt();
......@@ -224,3 +218,7 @@ double FlightModesComponentController::posCtlSwitchLiveRange(void)
return _switchLiveRange("RC_MAP_POSCTL_SW");
}
double FlightModesComponentController::acroSwitchLiveRange(void)
{
return _switchLiveRange("RC_MAP_ACRO_SW");
}
src/AutoPilotPlugins/PX4/FlightModesComponentController.h
View file @ 2306566c
......@@ -54,6 +54,7 @@ public:
Q_PROPERTY(double posCtlSwitchLiveRange READ posCtlSwitchLiveRange NOTIFY switchLiveRangeChanged)
Q_PROPERTY(double returnSwitchLiveRange READ returnSwitchLiveRange NOTIFY switchLiveRangeChanged)
Q_PROPERTY(double offboardSwitchLiveRange READ offboardSwitchLiveRange NOTIFY switchLiveRangeChanged)
Q_PROPERTY(double acroSwitchLiveRange READ acroSwitchLiveRange NOTIFY switchLiveRangeChanged)
Q_PROPERTY(bool sendLiveRCSwitchRanges READ sendLiveRCSwitchRanges WRITE setSendLiveRCSwitchRanges NOTIFY liveRCSwitchRangesChanged)
......@@ -62,6 +63,7 @@ public:
double posCtlSwitchLiveRange(void);
double returnSwitchLiveRange(void);
double offboardSwitchLiveRange(void);
double acroSwitchLiveRange(void);
bool sendLiveRCSwitchRanges(void) { return _liveRCValues; }
void setSendLiveRCSwitchRanges(bool start);
......
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