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Commit 4dab0e1e authored by Don Gagne's avatar Don Gagne
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Handle ArudPilot parameter changes in newer firmwares

parent 1a2ce057
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Showing with 22488 additions and 3585 deletions
src/AutoPilotPlugins/APM/APMCameraComponent.qml
View file @ 4dab0e1e
......@@ -55,21 +55,23 @@ SetupPage {
property Fact _mountAngMinPan: controller.getParameterFact(-1, "MNT_ANGMIN_PAN")
property Fact _mountAngMaxPan: controller.getParameterFact(-1, "MNT_ANGMAX_PAN")
property Fact _rc5Function: controller.getParameterFact(-1, "RC5_FUNCTION")
property Fact _rc6Function: controller.getParameterFact(-1, "RC6_FUNCTION")
property Fact _rc7Function: controller.getParameterFact(-1, "RC7_FUNCTION")
property Fact _rc8Function: controller.getParameterFact(-1, "RC8_FUNCTION")
property Fact _rc9Function: controller.getParameterFact(-1, "RC9_FUNCTION")
property Fact _rc10Function: controller.getParameterFact(-1, "RC10_FUNCTION")
property Fact _rc11Function: controller.getParameterFact(-1, "RC11_FUNCTION")
property Fact _rc12Function: controller.getParameterFact(-1, "RC12_FUNCTION")
property Fact _rc13Function: controller.getParameterFact(-1, "RC13_FUNCTION")
property Fact _rc14Function: controller.getParameterFact(-1, "RC14_FUNCTION")
property Fact _rc5Function: controller.getParameterFact(-1, "r.SERVO5_FUNCTION")
property Fact _rc6Function: controller.getParameterFact(-1, "r.SERVO6_FUNCTION")
property Fact _rc7Function: controller.getParameterFact(-1, "r.SERVO7_FUNCTION")
property Fact _rc8Function: controller.getParameterFact(-1, "r.SERVO8_FUNCTION")
property Fact _rc9Function: controller.getParameterFact(-1, "r.SERVO9_FUNCTION")
property Fact _rc10Function: controller.getParameterFact(-1, "r.SERVO10_FUNCTION")
property Fact _rc11Function: controller.getParameterFact(-1, "r.SERVO11_FUNCTION")
property Fact _rc12Function: controller.getParameterFact(-1, "r.SERVO12_FUNCTION")
property Fact _rc13Function: controller.getParameterFact(-1, "r.SERVO13_FUNCTION")
property Fact _rc14Function: controller.getParameterFact(-1, "r.SERVO14_FUNCTION")
property bool _tiltEnabled: false
property bool _panEnabled: false
property bool _rollEnabled: false
property bool _servoReverseIsBool: controller.parameterExists(-1, "RC5_REVERSED")
// Gimbal Settings not available on older firmware
property bool _showGimbaLSettings: controller.parameterExists(-1, "MNT_DEFLT_MODE")
......@@ -95,10 +97,17 @@ SetupPage {
loader.gimbalOutIndex = channel - 4
loader.servoPWMMinFact = controller.getParameterFact(-1, rcPrefix + "MIN")
loader.servoPWMMaxFact = controller.getParameterFact(-1, rcPrefix + "MAX")
loader.servoReverseFact = controller.getParameterFact(-1, rcPrefix + "REV")
if (controller.parameterExists(-1, "RC5_REVERSED")) {
// Newer firmware parameter
loader.servoReverseFact = controller.getParameterFact(-1, rcPrefix + "REVERSED")
} else {
// Older firmware parameter
loader.servoReverseFact = controller.getParameterFact(-1, rcPrefix + "REV")
}
}
/// Gimbal output channels are stored in RC#_FUNCTION parameters. We need to loop through those
/// Gimbal output channels are stored in SERVO#_FUNCTION parameters. We need to loop through those
/// to find them and setup the ui accordindly.
function calcGimbalOutValues() {
gimbalDirectionTiltLoader.gimbalOutIndex = 0
......@@ -108,7 +117,7 @@ SetupPage {
_panEnabled = false
_rollEnabled = false
for (var channel=_firstGimbalOutChannel; channel<=_lastGimbalOutChannel; channel++) {
var functionFact = controller.getParameterFact(-1, "RC" + channel + "_FUNCTION")
var functionFact = controller.getParameterFact(-1, "r.SERVO" + channel + "_FUNCTION")
if (functionFact.value == _rcFunctionMountTilt) {
_tiltEnabled = true
setGimbalSettingsServoInfo(gimbalDirectionTiltLoader, channel)
......@@ -125,7 +134,7 @@ SetupPage {
function setRCFunction(channel, rcFunction) {
// First clear any previous settings for this function
for (var index=_firstGimbalOutChannel; index<=_lastGimbalOutChannel; index++) {
var functionFact = controller.getParameterFact(-1, "RC" + index + "_FUNCTION")
var functionFact = controller.getParameterFact(-1, "r.SERVO" + index + "_FUNCTION")
if (functionFact.value != _rcFunctionDisabled && functionFact.value == rcFunction) {
functionFact.value = _rcFunctionDisabled
}
......@@ -133,12 +142,12 @@ SetupPage {
// Now set the function into the new channel
if (channel != 0) {
var functionFact = controller.getParameterFact(-1, "RC" + channel + "_FUNCTION")
var functionFact = controller.getParameterFact(-1, "r.SERVO" + channel + "_FUNCTION")
functionFact.value = rcFunction
}
}
// Whenever any RC#_FUNCTION parameters chagnes we need to go looking for gimbal output channels again
// Whenever any SERVO#_FUNCTION parameters changes we need to go looking for gimbal output channels again
Connections { target: _rc5Function; onValueChanged: calcGimbalOutValues() }
Connections { target: _rc6Function; onValueChanged: calcGimbalOutValues() }
Connections { target: _rc7Function; onValueChanged: calcGimbalOutValues() }
......@@ -195,6 +204,7 @@ SetupPage {
// property Fact servoPWMMinFact
// property Fact servoPWMMaxFact
// property Fact servoReverseFact
// property bool servoReverseIsBool
// property int rcFunction
Item {
......@@ -234,10 +244,12 @@ SetupPage {
anchors.top: mountStabCheckBox.bottom
anchors.right: parent.right
text: qsTr("Servo reverse")
checkedValue: 1
uncheckedValue: 0
checkedValue: _servoReverseIsBool ? 1 : -1
uncheckedValue: _servoReverseIsBool ? 0 : 1
fact: servoReverseFact
enabled: directionEnabled
property bool _servoReverseIsBool: servoReverseIsBool
}
QGCLabel {
......@@ -462,6 +474,7 @@ SetupPage {
property Fact servoPWMMinFact: Fact { }
property Fact servoPWMMaxFact: Fact { }
property Fact servoReverseFact: Fact { }
property bool servoReverseIsBool: _servoReverseIsBool
property int rcFunction: _rcFunctionMountTilt
}
......@@ -479,6 +492,7 @@ SetupPage {
property Fact servoPWMMinFact: Fact { }
property Fact servoPWMMaxFact: Fact { }
property Fact servoReverseFact: Fact { }
property bool servoReverseIsBool: _servoReverseIsBool
property int rcFunction: _rcFunctionMountRoll
}
......@@ -496,6 +510,7 @@ SetupPage {
property Fact servoPWMMinFact: Fact { }
property Fact servoPWMMaxFact: Fact { }
property Fact servoReverseFact: Fact { }
property bool servoReverseIsBool: _servoReverseIsBool
property int rcFunction: _rcFunctionMountPan
}
......
src/AutoPilotPlugins/APM/APMLightsComponent.qml
View file @ 4dab0e1e
......@@ -32,16 +32,16 @@ SetupPage {
QGCPalette { id: palette; colorGroupEnabled: true }
property Fact _rc5Function: controller.getParameterFact(-1, "RC5_FUNCTION")
property Fact _rc6Function: controller.getParameterFact(-1, "RC6_FUNCTION")
property Fact _rc7Function: controller.getParameterFact(-1, "RC7_FUNCTION")
property Fact _rc8Function: controller.getParameterFact(-1, "RC8_FUNCTION")
property Fact _rc9Function: controller.getParameterFact(-1, "RC9_FUNCTION")
property Fact _rc10Function: controller.getParameterFact(-1, "RC10_FUNCTION")
property Fact _rc11Function: controller.getParameterFact(-1, "RC11_FUNCTION")
property Fact _rc12Function: controller.getParameterFact(-1, "RC12_FUNCTION")
property Fact _rc13Function: controller.getParameterFact(-1, "RC13_FUNCTION")
property Fact _rc14Function: controller.getParameterFact(-1, "RC14_FUNCTION")
property Fact _rc5Function: controller.getParameterFact(-1, "r.SERVO5_FUNCTION")
property Fact _rc6Function: controller.getParameterFact(-1, "r.SERVO6_FUNCTION")
property Fact _rc7Function: controller.getParameterFact(-1, "r.SERVO7_FUNCTION")
property Fact _rc8Function: controller.getParameterFact(-1, "r.SERVO8_FUNCTION")
property Fact _rc9Function: controller.getParameterFact(-1, "r.SERVO9_FUNCTION")
property Fact _rc10Function: controller.getParameterFact(-1, "r.SERVO10_FUNCTION")
property Fact _rc11Function: controller.getParameterFact(-1, "r.SERVO11_FUNCTION")
property Fact _rc12Function: controller.getParameterFact(-1, "r.SERVO12_FUNCTION")
property Fact _rc13Function: controller.getParameterFact(-1, "r.SERVO13_FUNCTION")
property Fact _rc14Function: controller.getParameterFact(-1, "r.SERVO14_FUNCTION")
readonly property real _margins: ScreenTools.defaultFontPixelHeight
readonly property int _rcFunctionDisabled: 0
......@@ -54,13 +54,13 @@ SetupPage {
calcLightOutValues()
}
/// Light output channels are stored in RC#_FUNCTION parameters. We need to loop through those
/// Light output channels are stored in SERVO#_FUNCTION parameters. We need to loop through those
/// to find them and setup the ui accordindly.
function calcLightOutValues() {
lightsLoader.lights1OutIndex = 0
lightsLoader.lights2OutIndex = 0
for (var channel=_firstLightsOutChannel; channel<=_lastLightsOutChannel; channel++) {
var functionFact = controller.getParameterFact(-1, "RC" + channel + "_FUNCTION")
var functionFact = controller.getParameterFact(-1, "r.SERVO" + channel + "_FUNCTION")
if (functionFact.value == _rcFunctionRCIN9) {
lightsLoader.lights1OutIndex = channel - 4
} else if (functionFact.value == _rcFunctionRCIN10) {
......@@ -72,7 +72,7 @@ SetupPage {
function setRCFunction(channel, rcFunction) {
// First clear any previous settings for this function
for (var index=_firstLightsOutChannel; index<=_lastLightsOutChannel; index++) {
var functionFact = controller.getParameterFact(-1, "RC" + index + "_FUNCTION")
var functionFact = controller.getParameterFact(-1, "r.SERVO" + index + "_FUNCTION")
if (functionFact.value != _rcFunctionDisabled && functionFact.value == rcFunction) {
functionFact.value = _rcFunctionDisabled
}
......@@ -80,12 +80,12 @@ SetupPage {
// Now set the function into the new channel
if (channel != 0) {
var functionFact = controller.getParameterFact(-1, "RC" + channel + "_FUNCTION")
var functionFact = controller.getParameterFact(-1, "r.SERVO" + channel + "_FUNCTION")
functionFact.value = rcFunction
}
}
// Whenever any RC#_FUNCTION parameters chagnes we need to go looking for light output channels again
// Whenever any SERVO#_FUNCTION parameters chagnes we need to go looking for light output channels again
Connections { target: _rc5Function; onValueChanged: calcLightOutValues() }
Connections { target: _rc6Function; onValueChanged: calcLightOutValues() }
Connections { target: _rc7Function; onValueChanged: calcLightOutValues() }
......
src/AutoPilotPlugins/APM/APMLightsComponentSummary.qml
View file @ 4dab0e1e
......@@ -14,16 +14,16 @@ FactPanel {
QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
FactPanelController { id: controller; factPanel: panel }
property Fact _rc5Function: controller.getParameterFact(-1, "RC5_FUNCTION")
property Fact _rc6Function: controller.getParameterFact(-1, "RC6_FUNCTION")
property Fact _rc7Function: controller.getParameterFact(-1, "RC7_FUNCTION")
property Fact _rc8Function: controller.getParameterFact(-1, "RC8_FUNCTION")
property Fact _rc9Function: controller.getParameterFact(-1, "RC9_FUNCTION")
property Fact _rc10Function: controller.getParameterFact(-1, "RC10_FUNCTION")
property Fact _rc11Function: controller.getParameterFact(-1, "RC11_FUNCTION")
property Fact _rc12Function: controller.getParameterFact(-1, "RC12_FUNCTION")
property Fact _rc13Function: controller.getParameterFact(-1, "RC13_FUNCTION")
property Fact _rc14Function: controller.getParameterFact(-1, "RC14_FUNCTION")
property Fact _rc5Function: controller.getParameterFact(-1, "r.SERVO5_FUNCTION")
property Fact _rc6Function: controller.getParameterFact(-1, "r.SERVO6_FUNCTION")
property Fact _rc7Function: controller.getParameterFact(-1, "r.SERVO7_FUNCTION")
property Fact _rc8Function: controller.getParameterFact(-1, "r.SERVO8_FUNCTION")
property Fact _rc9Function: controller.getParameterFact(-1, "r.SERVO9_FUNCTION")
property Fact _rc10Function: controller.getParameterFact(-1, "r.SERVO10_FUNCTION")
property Fact _rc11Function: controller.getParameterFact(-1, "r.SERVO11_FUNCTION")
property Fact _rc12Function: controller.getParameterFact(-1, "r.SERVO12_FUNCTION")
property Fact _rc13Function: controller.getParameterFact(-1, "r.SERVO13_FUNCTION")
property Fact _rc14Function: controller.getParameterFact(-1, "r.SERVO14_FUNCTION")
readonly property int _rcFunctionRCIN9: 59
readonly property int _rcFunctionRCIN10: 60
......@@ -34,13 +34,13 @@ FactPanel {
calcLightOutValues()
}
/// Light output channels are stored in RC#_FUNCTION parameters. We need to loop through those
/// Light output channels are stored in SERVO#_FUNCTION parameters. We need to loop through those
/// to find them and setup the ui accordindly.
function calcLightOutValues() {
lightsLoader.lights1OutIndex = 0
lightsLoader.lights2OutIndex = 0
for (var channel=_firstLightsOutChannel; channel<=_lastLightsOutChannel; channel++) {
var functionFact = controller.getParameterFact(-1, "RC" + channel + "_FUNCTION")
var functionFact = controller.getParameterFact(-1, "r.SERVO" + channel + "_FUNCTION")
if (functionFact.value == _rcFunctionRCIN9) {
lightsLoader.lights1OutIndex = channel - 4
} else if (functionFact.value == _rcFunctionRCIN10) {
......@@ -49,7 +49,7 @@ FactPanel {
}
}
// Whenever any RC#_FUNCTION parameters chagnes we need to go looking for light output channels again
// Whenever any SERVO#_FUNCTION parameters chagnes we need to go looking for light output channels again
Connections { target: _rc5Function; onValueChanged: calcLightOutValues() }
Connections { target: _rc6Function; onValueChanged: calcLightOutValues() }
Connections { target: _rc7Function; onValueChanged: calcLightOutValues() }
......
src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml
View file @ 4dab0e1e
......@@ -84,7 +84,7 @@ SetupPage {
calcAutoTuneChannel()
}
/// The AutoTune switch is stored in one of the RC#_FUNCTION parameters. We need to loop through those
/// The AutoTune switch is stored in one of the CH#_OPT parameters. We need to loop through those
/// to find them and setup the ui accordindly.
function calcAutoTuneChannel() {
_autoTuneSwitchChannelIndex = 0
......
src/AutoPilotPlugins/Common/RadioComponentController.h
View file @ 4dab0e1e
......@@ -24,6 +24,7 @@
#include "AutoPilotPlugin.h"
Q_DECLARE_LOGGING_CATEGORY(RadioComponentControllerLog)
Q_DECLARE_LOGGING_CATEGORY(RadioComponentControllerVerboseLog)
class RadioConfigest;
......@@ -232,7 +233,10 @@ private:
void _signalAllAttiudeValueChanges(void);
int _chanMax(void) const;
bool _channelReversedParamValue(int channel);
void _setChannelReversedParamValue(int channel, bool reversed);
// @brief Called by unit test code to set the mode to unit testing
void _setUnitTestMode(void){ _unitTestMode = true; }
......@@ -259,20 +263,20 @@ private:
int _transmitterMode; ///< 1: transmitter is mode 1, 2: transmitted is mode 2
static const int _updateInterval; ///< Interval for ui update timer
static const struct FunctionInfo _rgFunctionInfoAPM[rcCalFunctionMax]; ///< Information associated with each function, PX4 firmware
static const struct FunctionInfo _rgFunctionInfoPX4[rcCalFunctionMax]; ///< Information associated with each function, APM firmware
int _rgFunctionChannelMapping[rcCalFunctionMax]; ///< Maps from rcCalFunctions to channel index. _chanMax indicates channel not set for this function.
static const int _attitudeControls = 5;
int _chanCount; ///< Number of actual rc channels available
static const int _chanMaxPX4 = 18; ///< Maximum number of supported rc channels, PX4 Firmware
static const int _chanMaxAPM = 14; ///< Maximum number of supported rc channels, APM firmware
static const int _chanMaxAny = 18; ///< Maximum number of support rc channels by this implementation
static const int _chanMinimum = 5; ///< Minimum numner of channels required to run
struct ChannelInfo _rgChannelInfo[_chanMaxAny]; ///< Information associated with each rc channel
QList<int> _apmPossibleMissingRCChannelParams; ///< List of possible missing RC*_* params for APM stack
......@@ -292,7 +296,12 @@ private:
static const int _rcCalMoveDelta;
static const int _rcCalSettleDelta;
static const int _rcCalMinDelta;
static const char* _px4RevParamFormat;
static const char* _apmNewRevParamFormat;
QString _revParamFormat;
bool _revParamIsBool;
int _rcValueSave[_chanMaxAny]; ///< Saved values prior to detecting channel movement
int _rcRawValue[_chanMaxAny]; ///< Current set of raw channel values
......
src/FactSystem/FactControls/FactCheckBox.qml
View file @ 4dab0e1e
......@@ -11,12 +11,9 @@ QGCCheckBox {
property variant checkedValue: 1
property variant uncheckedValue: 0
partiallyCheckedEnabled: fact ? fact.value !== checkedValue && fact.value !== uncheckedValue : false
checkedState: fact ? fact.value === checkedValue ? Qt.Checked : (fact.value === uncheckedValue ? Qt.Unchecked : Qt.PartiallyChecked) : false
checkedState: fact ? (fact.value === checkedValue ? Qt.Checked : Qt.Unchecked) : Qt.Unchecked
text: qsTr("Label")
onClicked: {
fact.value = checked ? checkedValue : uncheckedValue
}
onClicked: fact.value = checked ? checkedValue : uncheckedValue
}
src/FactSystem/FactControls/FactPanelController.cc
View file @ 4dab0e1e
......@@ -127,8 +127,9 @@ Fact* FactPanelController::getParameterFact(int componentId, const QString& name
QQmlEngine::setObjectOwnership(fact, QQmlEngine::CppOwnership);
return fact;
} else {
if(reportMissing)
if (reportMissing) {
_reportMissingParameter(componentId, name);
}
return NULL;
}
}
......
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
View file @ 4dab0e1e
......@@ -735,6 +735,9 @@ void APMFirmwarePlugin::_artooSocketError(QAbstractSocket::SocketError socketErr
QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle)
{
int majorVersion = vehicle->firmwareMajorVersion();
int minorVersion = vehicle->firmwareMinorVersion();
switch (vehicle->vehicleType()) {
case MAV_TYPE_QUADROTOR:
case MAV_TYPE_HEXAROTOR:
......@@ -742,22 +745,57 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle)
case MAV_TYPE_TRICOPTER:
case MAV_TYPE_COAXIAL:
case MAV_TYPE_HELICOPTER:
if (vehicle->firmwareMajorVersion() < 3 || (vehicle->firmwareMajorVersion() == 3 && vehicle->firmwareMinorVersion() <= 3)) {
if (majorVersion < 3) {
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml");
} else if (vehicle->firmwareMajorVersion() == 3 && vehicle->firmwareMinorVersion() == 4) {
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.4.xml");
} else {
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.5.xml");
} else if (majorVersion == 3) {
switch (minorVersion) {
case 3:
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml");
case 4:
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.4.xml");
case 5:
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.5.xml");
default:
if (minorVersion < 3) {
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml");
}
}
}
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.5.xml");
case MAV_TYPE_FIXED_WING:
if (vehicle->firmwareMajorVersion() < 3 || (vehicle->firmwareMajorVersion() == 3 && vehicle->firmwareMinorVersion() <= 3)) {
if (majorVersion < 3) {
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.3.xml");
} else {
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.5.xml");
} else if (majorVersion == 3) {
switch (minorVersion) {
case 3:
case 4:
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.3.xml");
case 5:
case 6:
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.5.xml");
case 7:
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.7.xml");
default:
if (minorVersion < 3) {
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.3.xml");
}
}
}
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.8.xml");
case MAV_TYPE_GROUND_ROVER:
case MAV_TYPE_SURFACE_BOAT:
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml");
if (majorVersion < 3) {
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml");
} else if (majorVersion == 3) {
switch (minorVersion) {
case 0:
case 1:
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml");
default:
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.2.xml");
}
}
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.2.xml");
case MAV_TYPE_SUBMARINE:
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml");
default:
......
src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.8.xml 0 → 100644
View file @ 4dab0e1e
This diff is collapsed.
src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.2.xml 0 → 100644
View file @ 4dab0e1e
This diff is collapsed.
src/FirmwarePlugin/APM/APMResources.qrc
View file @ 4dab0e1e
......@@ -43,10 +43,12 @@
<file alias="APMParameterFactMetaData.Plane.3.3.xml">APMParameterFactMetaData.Plane.3.3.xml</file>
<file alias="APMParameterFactMetaData.Plane.3.5.xml">APMParameterFactMetaData.Plane.3.5.xml</file>
<file alias="APMParameterFactMetaData.Plane.3.7.xml">APMParameterFactMetaData.Plane.3.7.xml</file>
<file alias="APMParameterFactMetaData.Plane.3.8.xml">APMParameterFactMetaData.Plane.3.8.xml</file>
<file alias="APMParameterFactMetaData.Copter.3.3.xml">APMParameterFactMetaData.Copter.3.3.xml</file>
<file alias="APMParameterFactMetaData.Copter.3.4.xml">APMParameterFactMetaData.Copter.3.4.xml</file>
<file alias="APMParameterFactMetaData.Copter.3.5.xml">APMParameterFactMetaData.Copter.3.5.xml</file>
<file alias="APMParameterFactMetaData.Rover.3.0.xml">APMParameterFactMetaData.Rover.3.0.xml</file>
<file alias="APMParameterFactMetaData.Rover.3.2.xml">APMParameterFactMetaData.Rover.3.2.xml</file>
<file alias="APMParameterFactMetaData.Sub.3.4.xml">APMParameterFactMetaData.Sub.3.4.xml</file>
<file alias="CopterGeoFenceEditor.qml">CopterGeoFenceEditor.qml</file>
<file alias="PlaneGeoFenceEditor.qml">PlaneGeoFenceEditor.qml</file>
......
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
View file @ 4dab0e1e
......@@ -67,36 +67,51 @@ ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(void)
setSupportedModes(supportedFlightModes);
if (!_remapParamNameIntialized) {
FirmwarePlugin::remapParamNameMap_t& remap = _remapParamName[3][4];
remap["ATC_ANG_RLL_P"] = QStringLiteral("STB_RLL_P");
remap["ATC_ANG_PIT_P"] = QStringLiteral("STB_PIT_P");
remap["ATC_ANG_YAW_P"] = QStringLiteral("STB_YAW_P");
remap["ATC_RAT_RLL_P"] = QStringLiteral("RATE_RLL_P");
remap["ATC_RAT_RLL_I"] = QStringLiteral("RATE_RLL_I");
remap["ATC_RAT_RLL_IMAX"] = QStringLiteral("RATE_RLL_IMAX");
remap["ATC_RAT_RLL_D"] = QStringLiteral("RATE_RLL_D");
remap["ATC_RAT_RLL_FILT"] = QStringLiteral("RATE_RLL_FILT_HZ");
remap["ATC_RAT_PIT_P"] = QStringLiteral("RATE_PIT_P");
remap["ATC_RAT_PIT_I"] = QStringLiteral("RATE_PIT_I");
remap["ATC_RAT_PIT_IMAX"] = QStringLiteral("RATE_PIT_IMAX");
remap["ATC_RAT_PIT_D"] = QStringLiteral("RATE_PIT_D");
remap["ATC_RAT_PIT_FILT"] = QStringLiteral("RATE_PIT_FILT_HZ");
remap["ATC_RAT_YAW_P"] = QStringLiteral("RATE_YAW_P");
remap["ATC_RAT_YAW_I"] = QStringLiteral("RATE_YAW_I");
remap["ATC_RAT_YAW_IMAX"] = QStringLiteral("RATE_YAW_IMAX");
remap["ATC_RAT_YAW_D"] = QStringLiteral("RATE_YAW_D");
remap["ATC_RAT_YAW_FILT"] = QStringLiteral("RATE_YAW_FILT_HZ");
FirmwarePlugin::remapParamNameMap_t& remapV3_4 = _remapParamName[3][4];
remapV3_4["ATC_ANG_RLL_P"] = QStringLiteral("STB_RLL_P");
remapV3_4["ATC_ANG_PIT_P"] = QStringLiteral("STB_PIT_P");
remapV3_4["ATC_ANG_YAW_P"] = QStringLiteral("STB_YAW_P");
remapV3_4["ATC_RAT_RLL_P"] = QStringLiteral("RATE_RLL_P");
remapV3_4["ATC_RAT_RLL_I"] = QStringLiteral("RATE_RLL_I");
remapV3_4["ATC_RAT_RLL_IMAX"] = QStringLiteral("RATE_RLL_IMAX");
remapV3_4["ATC_RAT_RLL_D"] = QStringLiteral("RATE_RLL_D");
remapV3_4["ATC_RAT_RLL_FILT"] = QStringLiteral("RATE_RLL_FILT_HZ");
remapV3_4["ATC_RAT_PIT_P"] = QStringLiteral("RATE_PIT_P");
remapV3_4["ATC_RAT_PIT_I"] = QStringLiteral("RATE_PIT_I");
remapV3_4["ATC_RAT_PIT_IMAX"] = QStringLiteral("RATE_PIT_IMAX");
remapV3_4["ATC_RAT_PIT_D"] = QStringLiteral("RATE_PIT_D");
remapV3_4["ATC_RAT_PIT_FILT"] = QStringLiteral("RATE_PIT_FILT_HZ");
remapV3_4["ATC_RAT_YAW_P"] = QStringLiteral("RATE_YAW_P");
remapV3_4["ATC_RAT_YAW_I"] = QStringLiteral("RATE_YAW_I");
remapV3_4["ATC_RAT_YAW_IMAX"] = QStringLiteral("RATE_YAW_IMAX");
remapV3_4["ATC_RAT_YAW_D"] = QStringLiteral("RATE_YAW_D");
remapV3_4["ATC_RAT_YAW_FILT"] = QStringLiteral("RATE_YAW_FILT_HZ");
FirmwarePlugin::remapParamNameMap_t& remapV3_5 = _remapParamName[3][5];
remapV3_5["SERVO5_FUNCTION"] = QStringLiteral("RC5_FUNCTION");
remapV3_5["SERVO6_FUNCTION"] = QStringLiteral("RC6_FUNCTION");
remapV3_5["SERVO7_FUNCTION"] = QStringLiteral("RC7_FUNCTION");
remapV3_5["SERVO8_FUNCTION"] = QStringLiteral("RC8_FUNCTION");
remapV3_5["SERVO9_FUNCTION"] = QStringLiteral("RC9_FUNCTION");
remapV3_5["SERVO10_FUNCTION"] = QStringLiteral("RC10_FUNCTION");
remapV3_5["SERVO11_FUNCTION"] = QStringLiteral("RC11_FUNCTION");
remapV3_5["SERVO12_FUNCTION"] = QStringLiteral("RC12_FUNCTION");
remapV3_5["SERVO13_FUNCTION"] = QStringLiteral("RC13_FUNCTION");
remapV3_5["SERVO14_FUNCTION"] = QStringLiteral("RC14_FUNCTION");
_remapParamNameIntialized = true;
}
}
int ArduCopterFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const
{
// Remapping supports up to 3.4
return majorVersionNumber == 3 ? 4: Vehicle::versionNotSetValue;
// Remapping supports up to 3.5
return majorVersionNumber == 3 ? 5 : Vehicle::versionNotSetValue;
}
bool ArduCopterFirmwarePlugin::isCapable(const Vehicle* vehicle, FirmwareCapabilities capabilities)
......
src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
View file @ 4dab0e1e
......@@ -7,12 +7,11 @@
*
****************************************************************************/
/// @file
/// @author Pritam Ghanghas <pritam.ghanghas@gmail.com>
#include "ArduPlaneFirmwarePlugin.h"
bool ArduPlaneFirmwarePlugin::_remapParamNameIntialized = false;
FirmwarePlugin::remapParamNameMajorVersionMap_t ArduPlaneFirmwarePlugin::_remapParamName;
APMPlaneMode::APMPlaneMode(uint32_t mode, bool settable)
: APMCustomMode(mode, settable)
{
......@@ -63,6 +62,29 @@ ArduPlaneFirmwarePlugin::ArduPlaneFirmwarePlugin(void)
supportedFlightModes << APMPlaneMode(APMPlaneMode::QLAND ,true);
supportedFlightModes << APMPlaneMode(APMPlaneMode::QRTL ,true);
setSupportedModes(supportedFlightModes);
if (!_remapParamNameIntialized) {
FirmwarePlugin::remapParamNameMap_t& remapV3_8 = _remapParamName[3][8];
remapV3_8["SERVO5_FUNCTION"] = QStringLiteral("RC5_FUNCTION");
remapV3_8["SERVO6_FUNCTION"] = QStringLiteral("RC6_FUNCTION");
remapV3_8["SERVO7_FUNCTION"] = QStringLiteral("RC7_FUNCTION");
remapV3_8["SERVO8_FUNCTION"] = QStringLiteral("RC8_FUNCTION");
remapV3_8["SERVO9_FUNCTION"] = QStringLiteral("RC9_FUNCTION");
remapV3_8["SERVO10_FUNCTION"] = QStringLiteral("RC10_FUNCTION");
remapV3_8["SERVO11_FUNCTION"] = QStringLiteral("RC11_FUNCTION");
remapV3_8["SERVO12_FUNCTION"] = QStringLiteral("RC12_FUNCTION");
remapV3_8["SERVO13_FUNCTION"] = QStringLiteral("RC13_FUNCTION");
remapV3_8["SERVO14_FUNCTION"] = QStringLiteral("RC14_FUNCTION");
_remapParamNameIntialized = true;
}
}
int ArduPlaneFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const
{
// Remapping supports up to 3.8
return majorVersionNumber == 3 ? 8 : Vehicle::versionNotSetValue;
}
QString ArduPlaneFirmwarePlugin::takeControlFlightMode(void)
......
src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
View file @ 4dab0e1e
......@@ -58,6 +58,12 @@ public:
// Overrides from FirmwarePlugin
QString offlineEditingParamFile(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Plane.OfflineEditing.params"); }
QString takeControlFlightMode(void) final;
const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
int remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const final;
private:
static bool _remapParamNameIntialized;
static FirmwarePlugin::remapParamNameMajorVersionMap_t _remapParamName;
};
#endif
src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc
View file @ 4dab0e1e
......@@ -7,12 +7,11 @@
*
****************************************************************************/
/// @file
/// @author Pritam Ghanghas <pritam.ghanghas@gmail.com>
#include "ArduRoverFirmwarePlugin.h"
bool ArduRoverFirmwarePlugin::_remapParamNameIntialized = false;
FirmwarePlugin::remapParamNameMajorVersionMap_t ArduRoverFirmwarePlugin::_remapParamName;
APMRoverMode::APMRoverMode(uint32_t mode, bool settable)
: APMCustomMode(mode, settable)
{
......@@ -41,4 +40,28 @@ ArduRoverFirmwarePlugin::ArduRoverFirmwarePlugin(void)
supportedFlightModes << APMRoverMode(APMRoverMode::GUIDED ,true);
supportedFlightModes << APMRoverMode(APMRoverMode::INITIALIZING ,false);
setSupportedModes(supportedFlightModes);
if (!_remapParamNameIntialized) {
FirmwarePlugin::remapParamNameMap_t& remapV3_2 = _remapParamName[3][2];
remapV3_2["SERVO5_FUNCTION"] = QStringLiteral("RC5_FUNCTION");
remapV3_2["SERVO6_FUNCTION"] = QStringLiteral("RC6_FUNCTION");
remapV3_2["SERVO7_FUNCTION"] = QStringLiteral("RC7_FUNCTION");
remapV3_2["SERVO8_FUNCTION"] = QStringLiteral("RC8_FUNCTION");
remapV3_2["SERVO9_FUNCTION"] = QStringLiteral("RC9_FUNCTION");
remapV3_2["SERVO10_FUNCTION"] = QStringLiteral("RC10_FUNCTION");
remapV3_2["SERVO11_FUNCTION"] = QStringLiteral("RC11_FUNCTION");
remapV3_2["SERVO12_FUNCTION"] = QStringLiteral("RC12_FUNCTION");
remapV3_2["SERVO13_FUNCTION"] = QStringLiteral("RC13_FUNCTION");
remapV3_2["SERVO14_FUNCTION"] = QStringLiteral("RC14_FUNCTION");
_remapParamNameIntialized = true;
}
}
int ArduRoverFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const
{
// Remapping supports up to 3.2
return majorVersionNumber == 3 ? 2 : Vehicle::versionNotSetValue;
}
src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
View file @ 4dab0e1e
......@@ -49,6 +49,14 @@ class ArduRoverFirmwarePlugin : public APMFirmwarePlugin
public:
ArduRoverFirmwarePlugin(void);
// Overrides from FirmwarePlugin
const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
int remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const final;
private:
static bool _remapParamNameIntialized;
static FirmwarePlugin::remapParamNameMajorVersionMap_t _remapParamName;
};
#endif
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