Merge pull request #9016 from DonLakeFlyer/MultiBatterySetup

PX4: Multi battery setup

src/AutoPilotPlugins/PX4/BatteryParams.qml

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick          2.3
+import QtQuick.Controls 1.2
+import QtQuick.Dialogs  1.2
+import QtQuick.Layouts  1.2
+
+import QGroundControl               1.0
+import QGroundControl.FactSystem    1.0
+import QGroundControl.FactControls  1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Controllers   1.0
+
+// Exposes the set of battery parameters for new and old firmwares
+//  Older firmware: BAT_* naming
+//  Newer firmware: BAT#_* naming, with indices starting at 1
+QtObject {
+    property var controller     ///< FactPanelController
+    property int batteryIndex   ///< 1-based battery index
+
+    property bool battVoltageDividerAvailable:  controller.parameterExists(-1, "BAT#_V_DIV".replace("#",    _indexedBatteryParamsAvailable ? batteryIndex : ""))
+    property bool battAmpsPerVoltAvailable:     controller.parameterExists(-1, "BAT#_A_PER_V".replace("#",  _indexedBatteryParamsAvailable ? batteryIndex : ""))
+
+    property Fact battNumCells:                 controller.getParameterFact(-1, "BAT#_N_CELLS".replace("#",     _indexedBatteryParamsAvailable ? batteryIndex : ""))
+    property Fact battHighVolt:                 controller.getParameterFact(-1, "BAT#_V_CHARGED".replace("#",   _indexedBatteryParamsAvailable ? batteryIndex : ""))
+    property Fact battLowVolt:                  controller.getParameterFact(-1, "BAT#_V_EMPTY".replace("#",     _indexedBatteryParamsAvailable ? batteryIndex : ""))
+    property Fact battVoltLoadDrop:             controller.getParameterFact(-1, "BAT#_V_LOAD_DROP".replace("#", _indexedBatteryParamsAvailable ? batteryIndex : ""))
+    property Fact battVoltageDivider:           controller.getParameterFact(-1, "BAT#_V_DIV".replace("#",       _indexedBatteryParamsAvailable ? batteryIndex : ""), false)
+    property Fact battAmpsPerVolt:              controller.getParameterFact(-1, "BAT#_A_PER_V".replace("#",     _indexedBatteryParamsAvailable ? batteryIndex : ""), false)
+
+    property string _batNCellsIndexedParamName:     "BAT#_N_CELLS"
+    property bool   _indexedBatteryParamsAvailable: controller.parameterExists(-1, _batNCellsIndexedParamName.replace("#", 1))
+    property int    _indexedBatteryParamCount:      getIndexedBatteryParamCount()
+
+    Component.onCompleted: {
+        if (batteryIndex > 1 && !_indexedBatteryParamsAvailable) {
+            console.warn("Internal Error: BatteryParams.qml batteryIndex > 1 while indexed params are not available", batteryIndex)
+        }
+    }
+
+    function getIndexedBatteryParamCount() {
+        var batteryIndex = 1
+        do {
+            if (!controller.parameterExists(-1, _batNCellsIndexedParamName.replace("#", batteryIndex))) {
+                return batteryIndex - 1
+            }
+            batteryIndex++
+        } while (true)
+    }
+}

src/AutoPilotPlugins/PX4/PowerComponentController.cc

@@ -22,26 +22,26 @@ PowerComponentController::PowerComponentController(void)
 void PowerComponentController::calibrateEsc(void)
 {
     _warningMessages.clear();
-    connect(_vehicle, &Vehicle::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
+    connect(_vehicle, &Vehicle::textMessageReceived, this, &PowerComponentController::_handleVehicleTextMessage);
     _vehicle->startCalibration(Vehicle::CalibrationEsc);
 }
 
-void PowerComponentController::busConfigureActuators(void)
+void PowerComponentController::startBusConfigureActuators(void)
 {
     _warningMessages.clear();
-    connect(_vehicle, &Vehicle::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
-    _uas->startBusConfig(UASInterface::StartBusConfigActuators);
+    connect(_vehicle, &Vehicle::textMessageReceived, this, &PowerComponentController::_handleVehicleTextMessage);
+    _vehicle->startUAVCANBusConfig();
 }
 
 void PowerComponentController::stopBusConfigureActuators(void)
 {
-    disconnect(_vehicle, &Vehicle::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
-    _uas->startBusConfig(UASInterface::EndBusConfigActuators);
+    disconnect(_vehicle, &Vehicle::textMessageReceived, this, &PowerComponentController::_handleVehicleTextMessage);
+    _vehicle->stopUAVCANBusConfig();
 }
 
 void PowerComponentController::_stopCalibration(void)
 {
-    disconnect(_vehicle, &Vehicle::textMessageReceived, this, &PowerComponentController::_handleUASTextMessage);
+    disconnect(_vehicle, &Vehicle::textMessageReceived, this, &PowerComponentController::_handleVehicleTextMessage);
 }
 
 void PowerComponentController::_stopBusConfig(void)
@@ -49,12 +49,9 @@ void PowerComponentController::_stopBusConfig(void)
     _stopCalibration();
 }
 
-void PowerComponentController::_handleUASTextMessage(int uasId, int compId, int severity, QString text)
+void PowerComponentController::_handleVehicleTextMessage(int vehicleId, int /* compId */, int /* severity */, QString text)
 {
-    Q_UNUSED(compId);
-    Q_UNUSED(severity);
-    
-    if (uasId != _vehicle->id()) {
+    if (vehicleId != _vehicle->id()) {
         return;
     }
     

src/AutoPilotPlugins/PX4/PowerComponentController.h

@@ -29,7 +29,7 @@ public:
     PowerComponentController(void);
     
     Q_INVOKABLE void calibrateEsc(void);
-    Q_INVOKABLE void busConfigureActuators(void);
+    Q_INVOKABLE void startBusConfigureActuators(void);
     Q_INVOKABLE void stopBusConfigureActuators(void);
     
 signals:
@@ -43,7 +43,7 @@ signals:
     void calibrationSuccess(const QStringList& warningMessages);
     
 private slots:
-    void _handleUASTextMessage(int uasId, int compId, int severity, QString text);
+    void _handleVehicleTextMessage(int vehicleId, int compId, int severity, QString text);
     
 private:
     void _stopCalibration(void);

src/FirmwarePlugin/PX4/PX4Resources.qrc

@@ -21,6 +21,7 @@
         <file alias="SensorsComponentSummaryFixedWing.qml">../../AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml</file>
         <file alias="SensorsSetup.qml">../../AutoPilotPlugins/PX4/SensorsSetup.qml</file>
         <file alias="QGroundControl/PX4/qmldir">../../QmlControls/QGroundControl/PX4/qmldir</file>
+        <file alias="QGroundControl/PX4/BatteryParams.qml">../../AutoPilotPlugins/PX4/BatteryParams.qml</file>
     </qresource>
     <qresource prefix="/json">
         <file alias="PX4-MavCmdInfoCommon.json">PX4-MavCmdInfoCommon.json</file>

src/QmlControls/QGroundControl/PX4/qmldir

 Module QGroundControl.PX4
 
+BatteryParams   1.0 BatteryParams.qml
 SensorSetupPage 1.0 SensorSetupPage.qml

src/Vehicle/Vehicle.cc

@@ -3665,6 +3665,22 @@ void Vehicle::stopCalibration(void)
                    0);                                // unused
 }
 
+void Vehicle::startUAVCANBusConfig(void)
+{
+    sendMavCommand(defaultComponentId(),        // target component
+                   MAV_CMD_PREFLIGHT_UAVCAN,    // command id
+                   true,                        // showError
+                   1);                          // start config
+}
+
+void Vehicle::stopUAVCANBusConfig(void)
+{
+    sendMavCommand(defaultComponentId(),        // target component
+                   MAV_CMD_PREFLIGHT_UAVCAN,    // command id
+                   true,                        // showError
+                   0);                          // stop config
+}
+
 void Vehicle::setSoloFirmware(bool soloFirmware)
 {
     if (soloFirmware != _soloFirmware) {

src/Vehicle/Vehicle.h

@@ -1003,6 +1003,9 @@ public:
     void startCalibration   (CalibrationType calType);
     void stopCalibration    (void);
 
+    void startUAVCANBusConfig(void);
+    void stopUAVCANBusConfig(void);
+
     Fact* roll                              () { return &_rollFact; }
     Fact* pitch                             () { return &_pitchFact; }
     Fact* heading                           () { return &_headingFact; }

src/uas/UAS.cc

@@ -348,41 +348,6 @@ void UAS::receiveMessage(mavlink_message_t message)
 #pragma warning(pop, 0)
 #endif
 
-void UAS::startBusConfig(UASInterface::StartBusConfigType calType)
-{
-    if (!_vehicle) {
-        return;
-    }
-
-   int actuatorCal = 0;
-
-    switch (calType) {
-        case StartBusConfigActuators:
-            actuatorCal = 1;
-        break;
-        case EndBusConfigActuators:
-            actuatorCal = 0;
-        break;
-    }
-
-    _vehicle->sendMavCommand(_vehicle->defaultComponentId(),    // target component
-                             MAV_CMD_PREFLIGHT_UAVCAN,          // command id
-                             true,                              // showError
-                             actuatorCal);                      // actuators
-}
-
-void UAS::stopBusConfig(void)
-{
-    if (!_vehicle) {
-        return;
-    }
-
-    _vehicle->sendMavCommand(_vehicle->defaultComponentId(),    // target component
-                             MAV_CMD_PREFLIGHT_UAVCAN,          // command id
-                             true,                              // showError
-                             0);                                // cancel
-}
-
 /**
 * Check if time is smaller than 40 years, assuming no system without Unix
 * timestamp runs longer than 40 years continuously without reboot. In worst case

src/uas/UAS.h

@@ -180,9 +180,6 @@ public slots:
     /** @brief Receive a message from one of the communication links. */
     virtual void receiveMessage(mavlink_message_t message);
 
-    void startBusConfig(StartBusConfigType calType);
-    void stopBusConfig(void);
-
 signals:
     void imageStarted(quint64 timestamp);
     /** @brief A new camera image has arrived */

src/uas/UASInterface.h

@@ -39,17 +39,6 @@ public:
     /** @brief The time interval the robot is switched on **/
     virtual quint64 getUptime() const = 0;
 
-    enum StartBusConfigType {
-        StartBusConfigActuators,
-        EndBusConfigActuators,
-    };
-
-    /// Starts the specified bus configuration
-    virtual void startBusConfig(StartBusConfigType calType) = 0;
-
-    /// Ends any current bus configuration
-    virtual void stopBusConfig(void) = 0;
-
 public slots:
     /** @brief Order the robot to pair its receiver **/
     virtual void pairRX(int rxType, int rxSubType) = 0;