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Commit 33c9059d authored by Don Gagne's avatar Don Gagne
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Live flight mode config

parent cfd84bde
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Showing with 48 additions and 127 deletions
src/AutoPilotPlugins/APM/APMFlightModesComponent.qml
View file @ 33c9059d
......@@ -77,11 +77,14 @@ QGCView {
Row {
spacing: ScreenTools.defaultFontPixelWidth
property int index: modelData + 1
property int index: modelData + 1
property var pwmStrings: [ "PWM 0 - 1230", "PWM 1231 - 1360", "PWM 1361 - 1490", "PWM 1491 - 1620", "PWM 1621 - 1749", "PWM 1750 +"]
QGCLabel {
anchors.baseline: modeCombo.baseline
text: "Flight Mode " + index + ":"
color: controller.activeFlightMode == index ? qgcPal.buttonHighlight : qgcPal.text
}
FactComboBox {
......@@ -91,56 +94,9 @@ QGCView {
indexModel: false
}
QGCCheckBox {
id: simple
anchors.baseline: modeCombo.baseline
text: "Simple Mode"
visible: !controller.fixedWing
checked: isChecked()
onClicked: {
var simpleFact = controller.getParameterFact(-1, "SIMPLE")
if (checked) {
simpleFact.value |= 1 << modelData
} else {
simpleFact.value &= ~modelData
}
}
function isChecked() {
if (simple.visible) {
var simpleFact = controller.getParameterFact(-1, "SIMPLE")
return simpleFact.value & (1 << modelData)
} else {
return false;
}
}
}
QGCCheckBox {
id: superSimple
QGCLabel {
anchors.baseline: modeCombo.baseline
text: "Super Simple Mode"
visible: !controller.fixedWing
checked: isChecked()
onClicked: {
var simpleFact = controller.getParameterFact(-1, "SUPER_SIMPLE")
if (checked) {
simpleFact.value |= 1 << modelData
} else {
simpleFact.value &= ~modelData
}
}
function isChecked() {
if (superSimple.visible) {
var simpleFact = controller.getParameterFact(-1, "SUPER_SIMPLE")
return simpleFact.value & (1 << modelData)
} else {
return false;
}
}
text: pwmStrings[modelData]
}
}
} // Repeater - Flight Modes
......@@ -176,6 +132,9 @@ QGCView {
QGCLabel {
anchors.baseline: optCombo.baseline
text: "Channel option " + index + ":"
color: controller.channelOptionEnabled[modelData] ? qgcPal.buttonHighlight : qgcPal.text
Component.onCompleted: console.log(index, controller.channelOptionEnabled[modelData])
}
FactComboBox {
......
src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc
View file @ 33c9059d
......@@ -29,7 +29,9 @@
#include <QQmlProperty>
APMFlightModesComponentController::APMFlightModesComponentController(void)
: _channelCount(Vehicle::cMaxRcChannels)
: _activeFlightMode(0)
, _channelCount(Vehicle::cMaxRcChannels)
, _fixedWing(_vehicle->vehicleType() == MAV_TYPE_FIXED_WING)
{
QStringList usedParams;
usedParams << "FLTMODE1" << "FLTMODE2" << "FLTMODE3" << "FLTMODE4" << "FLTMODE5" << "FLTMODE6";
......@@ -37,78 +39,37 @@ APMFlightModesComponentController::APMFlightModesComponentController(void)
return;
}
_init();
_validateConfiguration();
_rgChannelOptionEnabled << QVariant(false) << QVariant(false) << QVariant(false) << QVariant(false) << QVariant(false) << QVariant(false);
connect(_vehicle, &Vehicle::rcChannelsChanged, this, &APMFlightModesComponentController::_rcChannelsChanged);
}
void APMFlightModesComponentController::_init(void)
/// Connected to Vehicle::rcChannelsChanged signal
void APMFlightModesComponentController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels])
{
_fixedWing = _vehicle->vehicleType() == MAV_TYPE_FIXED_WING;
}
Q_UNUSED(channelCount);
/// This will look for parameter settings which would cause the config to not run correctly.
/// It will set _validConfiguration and _configurationErrors as needed.
void APMFlightModesComponentController::_validateConfiguration(void)
{
_validConfiguration = true;
#if 0
// Make sure switches are valid and within channel range
QStringList switchParams;
QList<int> switchMappings;
switchParams << "RC_MAP_MODE_SW" << "RC_MAP_ACRO_SW" << "RC_MAP_POSCTL_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_OFFB_SW";
for(int i=0; i<switchParams.count(); i++) {
int map = getParameterFact(FactSystem::defaultComponentId, switchParams[i])->rawValue().toInt();
switchMappings << map;
if (map < 0 || map > _channelCount) {
_validConfiguration = false;
_configurationErrors += QString("%1 is set to %2. Mapping must between 0 and %3 (inclusive).\n").arg(switchParams[i]).arg(map).arg(_channelCount);
}
}
// Make sure mode switches are not double-mapped
QStringList attitudeParams;
attitudeParams << "RC_MAP_THROTTLE" << "RC_MAP_YAW" << "RC_MAP_PITCH" << "RC_MAP_ROLL" << "RC_MAP_FLAPS" << "RC_MAP_AUX1" << "RC_MAP_AUX2";
_activeFlightMode = 0;
for (int i=0; i<attitudeParams.count(); i++) {
int map = getParameterFact(FactSystem::defaultComponentId, attitudeParams[i])->rawValue().toInt();
for (int j=0; j<switchParams.count(); j++) {
if (map != 0 && map == switchMappings[j]) {
_validConfiguration = false;
_configurationErrors += QString("%1 is set to same channel as %2.\n").arg(switchParams[j]).arg(attitudeParams[i]);
int channelValue = pwmValues[4];
if (channelValue != -1) {
int rgThreshold[] = { 1230, 1360, 1490, 1620, 1749 };
for (int i=0; i<5; i++) {
if (channelValue <= rgThreshold[i]) {
_activeFlightMode = i + 1;
break;
}
}
_activeFlightMode = 5;
}
// Validate thresholds within range
QStringList thresholdParams;
thresholdParams << "RC_ASSIST_TH" << "RC_AUTO_TH" << "RC_ACRO_TH" << "RC_POSCTL_TH" << "RC_LOITER_TH" << "RC_RETURN_TH" << "RC_OFFB_TH";
foreach(QString thresholdParam, thresholdParams) {
float threshold = getParameterFact(-1, thresholdParam)->rawValue().toFloat();
if (threshold < 0.0f || threshold > 1.0f) {
_validConfiguration = false;
_configurationErrors += QString("%1 is set to %2. Threshold must between 0.0 and 1.0 (inclusive).\n").arg(thresholdParam).arg(threshold);
}
}
#endif
}
emit activeFlightModeChanged(_activeFlightMode);
/// Connected to Vehicle::rcChannelsChanged signal
void APMFlightModesComponentController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels])
{
for (int channel=0; channel<channelCount; channel++) {
_rcValues[channel] = pwmValues[channel];
for (int i=0; i<6; i++) {
_rgChannelOptionEnabled[i] = QVariant(false);
channelValue = pwmValues[i+7];
if (channelValue != -1 && channelValue > 1800) {
_rgChannelOptionEnabled[i] = QVariant(true);
}
}
emit channelOptionEnabledChanged();
}
src/AutoPilotPlugins/APM/APMFlightModesComponentController.h
View file @ 33c9059d
......@@ -42,25 +42,26 @@ class APMFlightModesComponentController : public FactPanelController
public:
APMFlightModesComponentController(void);
Q_PROPERTY(int channelCount MEMBER _channelCount CONSTANT)
Q_PROPERTY(bool fixedWing MEMBER _fixedWing CONSTANT)
Q_PROPERTY(QString reservedChannels MEMBER _reservedChannels CONSTANT)
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) { return _activeFlightMode; }
QVariantList channelOptionEnabled(void) { return _rgChannelOptionEnabled; }
signals:
void activeFlightModeChanged(int activeFlightMode);
void channelOptionEnabledChanged(void);
private slots:
void _rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels]);
private:
void _init(void);
void _validateConfiguration(void);
bool _fixedWing;
int _rcValues[Vehicle::cMaxRcChannels];
bool _validConfiguration;
QString _configurationErrors;
int _channelCount;
QString _reservedChannels;
int _activeFlightMode;
int _channelCount;
QVariantList _rgChannelOptionEnabled;
bool _fixedWing;
};
#endif
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