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Unverified Commit 3f5aabfc authored by Dima Ponomarev's avatar Dima Ponomarev Committed by GitHub
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Add Vehicle FactGroup for ESC_STATUS values (#8983) 

Add esc_status to vehicle fact group
parent 8f463d68
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custom-example/qgroundcontrol.qrc
View file @ 3f5aabfc
......@@ -316,6 +316,7 @@
<file alias="Vehicle/BatteryFact.json">../src/Vehicle/BatteryFact.json</file>
<file alias="Vehicle/ClockFact.json">../src/Vehicle/ClockFact.json</file>
<file alias="Vehicle/DistanceSensorFact.json">../src/Vehicle/DistanceSensorFact.json</file>
<file alias="Vehicle/EscStatusFactGroup.json">../src/Vehicle/EscStatusFactGroup.json</file>
<file alias="Vehicle/EstimatorStatusFactGroup.json">../src/Vehicle/EstimatorStatusFactGroup.json</file>
<file alias="Vehicle/GPSFact.json">../src/Vehicle/GPSFact.json</file>
<file alias="Vehicle/GPSRTKFact.json">../src/Vehicle/GPSRTKFact.json</file>
......
qgroundcontrol.pro
View file @ 3f5aabfc
......@@ -426,6 +426,7 @@ contains (DEFINES, QGC_ENABLE_PAIRING) {
HEADERS += \
src/QmlControls/QmlUnitsConversion.h \
src/Vehicle/VehicleEscStatusFactGroup.h \
src/api/QGCCorePlugin.h \
src/api/QGCOptions.h \
src/api/QGCSettings.h \
......@@ -439,6 +440,7 @@ contains (DEFINES, QGC_ENABLE_PAIRING) {
}
SOURCES += \
src/Vehicle/VehicleEscStatusFactGroup.cc \
src/api/QGCCorePlugin.cc \
src/api/QGCOptions.cc \
src/api/QGCSettings.cc \
......
qgroundcontrol.qrc
View file @ 3f5aabfc
......@@ -317,6 +317,7 @@
<file alias="Vehicle/BatteryFact.json">src/Vehicle/BatteryFact.json</file>
<file alias="Vehicle/ClockFact.json">src/Vehicle/ClockFact.json</file>
<file alias="Vehicle/DistanceSensorFact.json">src/Vehicle/DistanceSensorFact.json</file>
<file alias="Vehicle/EscStatusFactGroup.json">src/Vehicle/EscStatusFactGroup.json</file>
<file alias="Vehicle/EstimatorStatusFactGroup.json">src/Vehicle/EstimatorStatusFactGroup.json</file>
<file alias="Vehicle/GPSFact.json">src/Vehicle/GPSFact.json</file>
<file alias="Vehicle/GPSRTKFact.json">src/Vehicle/GPSRTKFact.json</file>
......
src/Vehicle/EscStatusFactGroup.json 0 → 100644
View file @ 3f5aabfc
{
"version": 1,
"fileType": "FactMetaData",
"QGC.MetaData.Facts":
[
{
"name": "index",
"shortDesc": "Index Of The First ESC In This Message",
"type": "uint8",
"default": 0
},
{
"name": "rpmFirst",
"shortDesc": "Rotation Per Minute",
"type": "float",
"decimalPlaces": 2,
"default": null
},
{
"name": "rpmSecond",
"shortDesc": "Rotation Per Minute",
"type": "float",
"decimalPlaces": 2,
"default": null
},
{
"name": "rpmThird",
"shortDesc": "Rotation Per Minute",
"type": "float",
"decimalPlaces": 2,
"default": null
},
{
"name": "rpmFourth",
"shortDesc": "Rotation Per Minute",
"type": "float",
"decimalPlaces": 2,
"default": null
},
{
"name": "currentFirst",
"shortDesc": "Current",
"type": "float",
"decimalPlaces": 2,
"default": null,
"units": "A"
},
{
"name": "currentSecond",
"shortDesc": "Current",
"type": "float",
"decimalPlaces": 2,
"default": null,
"units": "A"
},
{
"name": "currentThird",
"shortDesc": "Current",
"type": "float",
"decimalPlaces": 2,
"default": null,
"units": "A"
},
{
"name": "currentFourth",
"shortDesc": "Current",
"type": "float",
"decimalPlaces": 2,
"default": null,
"units": "A"
},
{
"name": "voltageFirst",
"shortDesc": "Voltage",
"type": "float",
"decimalPlaces": 2,
"default": null,
"units": "v"
},
{
"name": "voltageSecond",
"shortDesc": "Voltage",
"type": "float",
"decimalPlaces": 2,
"default": null,
"units": "v"
},
{
"name": "voltageThird",
"shortDesc": "Voltage",
"type": "float",
"decimalPlaces": 2,
"default": null,
"units": "v"
},
{
"name": "voltageFourth",
"shortDesc": "Voltage",
"type": "float",
"decimalPlaces": 2,
"default": null,
"units": "v"
}
]
}
src/Vehicle/Vehicle.cc
View file @ 3f5aabfc
......@@ -92,6 +92,7 @@ const char* Vehicle::_vibrationFactGroupName = "vibration";
const char* Vehicle::_temperatureFactGroupName = "temperature";
const char* Vehicle::_clockFactGroupName = "clock";
const char* Vehicle::_distanceSensorFactGroupName = "distanceSensor";
const char* Vehicle::_escStatusFactGroupName = "escStatus";
const char* Vehicle::_estimatorStatusFactGroupName = "estimatorStatus";
const char* Vehicle::_terrainFactGroupName = "terrain";
......@@ -211,6 +212,7 @@ Vehicle::Vehicle(LinkInterface* link,
, _temperatureFactGroup(this)
, _clockFactGroup(this)
, _distanceSensorFactGroup(this)
, _escStatusFactGroup(this)
, _estimatorStatusFactGroup(this)
, _terrainFactGroup(this)
, _terrainProtocolHandler(new TerrainProtocolHandler(this, &_terrainFactGroup, this))
......@@ -501,6 +503,7 @@ void Vehicle::_commonInit()
_addFactGroup(&_temperatureFactGroup, _temperatureFactGroupName);
_addFactGroup(&_clockFactGroup, _clockFactGroupName);
_addFactGroup(&_distanceSensorFactGroup, _distanceSensorFactGroupName);
_addFactGroup(&_escStatusFactGroup, _escStatusFactGroupName);
_addFactGroup(&_estimatorStatusFactGroup, _estimatorStatusFactGroupName);
_addFactGroup(&_terrainFactGroup, _terrainFactGroupName);
......
src/Vehicle/Vehicle.h
View file @ 3f5aabfc
......@@ -33,6 +33,7 @@
#include "VehicleSetpointFactGroup.h"
#include "VehicleTemperatureFactGroup.h"
#include "VehicleVibrationFactGroup.h"
#include "VehicleEscStatusFactGroup.h"
#include "VehicleEstimatorStatusFactGroup.h"
class UAS;
......@@ -279,6 +280,7 @@ public:
Q_PROPERTY(FactGroup* temperature READ temperatureFactGroup CONSTANT)
Q_PROPERTY(FactGroup* clock READ clockFactGroup CONSTANT)
Q_PROPERTY(FactGroup* setpoint READ setpointFactGroup CONSTANT)
Q_PROPERTY(FactGroup* escStatus READ escStatusFactGroup CONSTANT)
Q_PROPERTY(FactGroup* estimatorStatus READ estimatorStatusFactGroup CONSTANT)
Q_PROPERTY(FactGroup* terrain READ terrainFactGroup CONSTANT)
Q_PROPERTY(FactGroup* distanceSensors READ distanceSensorFactGroup CONSTANT)
......@@ -612,6 +614,7 @@ public:
FactGroup* clockFactGroup () { return &_clockFactGroup; }
FactGroup* setpointFactGroup () { return &_setpointFactGroup; }
FactGroup* distanceSensorFactGroup () { return &_distanceSensorFactGroup; }
FactGroup* escStatusFactGroup () { return &_escStatusFactGroup; }
FactGroup* estimatorStatusFactGroup () { return &_estimatorStatusFactGroup; }
FactGroup* terrainFactGroup () { return &_terrainFactGroup; }
QmlObjectListModel* batteries () { return &_batteryFactGroupListModel; }
......@@ -1249,6 +1252,7 @@ private:
VehicleClockFactGroup _clockFactGroup;
VehicleSetpointFactGroup _setpointFactGroup;
VehicleDistanceSensorFactGroup _distanceSensorFactGroup;
VehicleEscStatusFactGroup _escStatusFactGroup;
VehicleEstimatorStatusFactGroup _estimatorStatusFactGroup;
TerrainFactGroup _terrainFactGroup;
QmlObjectListModel _batteryFactGroupListModel;
......@@ -1282,6 +1286,7 @@ private:
static const char* _temperatureFactGroupName;
static const char* _clockFactGroupName;
static const char* _distanceSensorFactGroupName;
static const char* _escStatusFactGroupName;
static const char* _estimatorStatusFactGroupName;
static const char* _terrainFactGroupName;
......
src/Vehicle/VehicleEscStatusFactGroup.cc 0 → 100644
View file @ 3f5aabfc
/****************************************************************************
*
* (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.
*
****************************************************************************/
#include "VehicleEscStatusFactGroup.h"
#include "Vehicle.h"
const char* VehicleEscStatusFactGroup::_indexFactName = "index";
const char* VehicleEscStatusFactGroup::_rpmFirstFactName = "rpm1";
const char* VehicleEscStatusFactGroup::_rpmSecondFactName = "rpm2";
const char* VehicleEscStatusFactGroup::_rpmThirdFactName = "rpm3";
const char* VehicleEscStatusFactGroup::_rpmFourthFactName = "rpm4";
const char* VehicleEscStatusFactGroup::_currentFirstFactName = "current1";
const char* VehicleEscStatusFactGroup::_currentSecondFactName = "current2";
const char* VehicleEscStatusFactGroup::_currentThirdFactName = "current3";
const char* VehicleEscStatusFactGroup::_currentFourthFactName = "current4";
const char* VehicleEscStatusFactGroup::_voltageFirstFactName = "voltage1";
const char* VehicleEscStatusFactGroup::_voltageSecondFactName = "voltage2";
const char* VehicleEscStatusFactGroup::_voltageThirdFactName = "voltage3";
const char* VehicleEscStatusFactGroup::_voltageFourthFactName = "voltage4";
VehicleEscStatusFactGroup::VehicleEscStatusFactGroup(QObject* parent)
: FactGroup (1000, ":/json/Vehicle/EscStatusFactGroup.json", parent)
, _indexFact (0, _indexFactName, FactMetaData::valueTypeUint8)
, _rpmFirstFact (0, _rpmFirstFactName, FactMetaData::valueTypeFloat)
, _rpmSecondFact (0, _rpmSecondFactName, FactMetaData::valueTypeFloat)
, _rpmThirdFact (0, _rpmThirdFactName, FactMetaData::valueTypeFloat)
, _rpmFourthFact (0, _rpmFourthFactName, FactMetaData::valueTypeFloat)
, _currentFirstFact (0, _currentFirstFactName, FactMetaData::valueTypeFloat)
, _currentSecondFact (0, _currentSecondFactName, FactMetaData::valueTypeFloat)
, _currentThirdFact (0, _currentThirdFactName, FactMetaData::valueTypeFloat)
, _currentFourthFact (0, _currentFourthFactName, FactMetaData::valueTypeFloat)
, _voltageFirstFact (0, _voltageFirstFactName, FactMetaData::valueTypeFloat)
, _voltageSecondFact (0, _voltageSecondFactName, FactMetaData::valueTypeFloat)
, _voltageThirdFact (0, _voltageThirdFactName, FactMetaData::valueTypeFloat)
, _voltageFourthFact (0, _voltageFourthFactName, FactMetaData::valueTypeFloat)
{
_addFact(&_indexFact, _indexFactName);
_addFact(&_rpmFirstFact, _rpmFirstFactName);
_addFact(&_rpmSecondFact, _rpmSecondFactName);
_addFact(&_rpmThirdFact, _rpmThirdFactName);
_addFact(&_rpmFourthFact, _rpmFourthFactName);
_addFact(&_currentFirstFact, _currentFirstFactName);
_addFact(&_currentSecondFact, _currentSecondFactName);
_addFact(&_currentThirdFact, _currentThirdFactName);
_addFact(&_currentFourthFact, _currentFourthFactName);
_addFact(&_voltageFirstFact, _voltageFirstFactName);
_addFact(&_voltageSecondFact, _voltageSecondFactName);
_addFact(&_voltageThirdFact, _voltageThirdFactName);
_addFact(&_voltageFourthFact, _voltageFourthFactName);
}
void VehicleEscStatusFactGroup::handleMessage(Vehicle* /* vehicle */, mavlink_message_t& message)
{
if (message.msgid != MAVLINK_MSG_ID_ESC_STATUS) {
return;
}
mavlink_esc_status_t content;
mavlink_msg_esc_status_decode(&message, &content);
index()->setRawValue (content.index);
rpmFirst()->setRawValue (content.rpm[0]);
rpmSecond()->setRawValue (content.rpm[1]);
rpmThird()->setRawValue (content.rpm[2]);
rpmFourth()->setRawValue (content.rpm[3]);
currentFirst()->setRawValue (content.current[0]);
currentSecond()->setRawValue (content.current[1]);
currentThird()->setRawValue (content.current[2]);
currentFourth()->setRawValue (content.current[3]);
voltageFirst()->setRawValue (content.voltage[0]);
voltageSecond()->setRawValue (content.voltage[1]);
voltageThird()->setRawValue (content.voltage[2]);
voltageFourth()->setRawValue (content.voltage[3]);
}
src/Vehicle/VehicleEscStatusFactGroup.h 0 → 100644
View file @ 3f5aabfc
/****************************************************************************
*
* (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.
*
****************************************************************************/
#pragma once
#include "FactGroup.h"
#include "QGCMAVLink.h"
class Vehicle;
class VehicleEscStatusFactGroup : public FactGroup
{
Q_OBJECT
public:
VehicleEscStatusFactGroup(QObject* parent = nullptr);
Q_PROPERTY(Fact* index READ index CONSTANT)
Q_PROPERTY(Fact* rpmFirst READ rpmFirst CONSTANT)
Q_PROPERTY(Fact* rpmSecond READ rpmSecond CONSTANT)
Q_PROPERTY(Fact* rpmThird READ rpmThird CONSTANT)
Q_PROPERTY(Fact* rpmFourth READ rpmFourth CONSTANT)
Q_PROPERTY(Fact* currentFirst READ currentFirst CONSTANT)
Q_PROPERTY(Fact* currentSecond READ currentSecond CONSTANT)
Q_PROPERTY(Fact* currentThird READ currentThird CONSTANT)
Q_PROPERTY(Fact* currentFourth READ currentFourth CONSTANT)
Q_PROPERTY(Fact* voltageFirst READ voltageFirst CONSTANT)
Q_PROPERTY(Fact* voltageSecond READ voltageSecond CONSTANT)
Q_PROPERTY(Fact* voltageThird READ voltageThird CONSTANT)
Q_PROPERTY(Fact* voltageFourth READ voltageFourth CONSTANT)
Fact* index () { return &_indexFact; }
Fact* rpmFirst () { return &_rpmFirstFact; }
Fact* rpmSecond () { return &_rpmSecondFact; }
Fact* rpmThird () { return &_rpmThirdFact; }
Fact* rpmFourth () { return &_rpmFourthFact; }
Fact* currentFirst () { return &_currentFirstFact; }
Fact* currentSecond () { return &_currentSecondFact; }
Fact* currentThird () { return &_currentThirdFact; }
Fact* currentFourth () { return &_currentFourthFact; }
Fact* voltageFirst () { return &_voltageFirstFact; }
Fact* voltageSecond () { return &_voltageSecondFact; }
Fact* voltageThird () { return &_voltageThirdFact; }
Fact* voltageFourth () { return &_voltageFourthFact; }
// Overrides from FactGroup
void handleMessage(Vehicle* vehicle, mavlink_message_t& message) override;
static const char* _indexFactName;
static const char* _rpmFirstFactName;
static const char* _rpmSecondFactName;
static const char* _rpmThirdFactName;
static const char* _rpmFourthFactName;
static const char* _currentFirstFactName;
static const char* _currentSecondFactName;
static const char* _currentThirdFactName;
static const char* _currentFourthFactName;
static const char* _voltageFirstFactName;
static const char* _voltageSecondFactName;
static const char* _voltageThirdFactName;
static const char* _voltageFourthFactName;
private:
Fact _indexFact;
Fact _rpmFirstFact;
Fact _rpmSecondFact;
Fact _rpmThirdFact;
Fact _rpmFourthFact;
Fact _currentFirstFact;
Fact _currentSecondFact;
Fact _currentThirdFact;
Fact _currentFourthFact;
Fact _voltageFirstFact;
Fact _voltageSecondFact;
Fact _voltageThirdFact;
Fact _voltageFourthFact;
};
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