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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.cc
View file @ 4dab0e1e
......@@ -18,6 +18,7 @@
#include <QSettings>
QGC_LOGGING_CATEGORY(RadioComponentControllerLog, "RadioComponentControllerLog")
QGC_LOGGING_CATEGORY(RadioComponentControllerVerboseLog, "RadioComponentControllerVerboseLog")
#ifdef UNITTEST_BUILD
// Nasty hack to expose controller to unit test code
......@@ -26,66 +27,78 @@ RadioComponentController* RadioComponentController::_unitTestController = NULL;
const int RadioComponentController::_updateInterval = 150; ///< Interval for timer which updates radio channel widgets
const int RadioComponentController::_rcCalPWMCenterPoint = ((RadioComponentController::_rcCalPWMValidMaxValue - RadioComponentController::_rcCalPWMValidMinValue) / 2.0f) + RadioComponentController::_rcCalPWMValidMinValue;
// FIXME: Double check these mins againt 150% throws
const int RadioComponentController::_rcCalPWMValidMinValue = 1300; ///< Largest valid minimum PWM Min range value
const int RadioComponentController::_rcCalPWMValidMaxValue = 1700; ///< Smallest valid maximum PWM Max range value
const int RadioComponentController::_rcCalPWMDefaultMinValue = 1000; ///< Default value for Min if not set
const int RadioComponentController::_rcCalPWMDefaultMaxValue = 2000; ///< Default value for Max if not set
const int RadioComponentController::_rcCalRoughCenterDelta = 50; ///< Delta around center point which is considered to be roughly centered
const int RadioComponentController::_rcCalMoveDelta = 300; ///< Amount of delta past center which is considered stick movement
const int RadioComponentController::_rcCalSettleDelta = 20; ///< Amount of delta which is considered no stick movement
const int RadioComponentController::_rcCalMinDelta = 100; ///< Amount of delta allowed around min value to consider channel at min
const int RadioComponentController::_rcCalPWMValidMinValue = 1300; ///< Largest valid minimum PWM Min range value
const int RadioComponentController::_rcCalPWMValidMaxValue = 1700; ///< Smallest valid maximum PWM Max range value
const int RadioComponentController::_rcCalPWMDefaultMinValue = 1000; ///< Default value for Min if not set
const int RadioComponentController::_rcCalPWMDefaultMaxValue = 2000; ///< Default value for Max if not set
const int RadioComponentController::_rcCalRoughCenterDelta = 50; ///< Delta around center point which is considered to be roughly centered
const int RadioComponentController::_rcCalMoveDelta = 300; ///< Amount of delta past center which is considered stick movement
const int RadioComponentController::_rcCalSettleDelta = 20; ///< Amount of delta which is considered no stick movement
const int RadioComponentController::_rcCalMinDelta = 100; ///< Amount of delta allowed around min value to consider channel at min
const int RadioComponentController::_stickDetectSettleMSecs = 500;
const char* RadioComponentController::_imageFilePrefix = "calibration/";
const char* RadioComponentController::_imageFilePrefix = "calibration/";
const char* RadioComponentController::_imageFileMode1Dir = "mode1/";
const char* RadioComponentController::_imageFileMode2Dir = "mode2/";
const char* RadioComponentController::_imageCenter = "radioCenter.png";
const char* RadioComponentController::_imageHome = "radioHome.png";
const char* RadioComponentController::_imageThrottleUp = "radioThrottleUp.png";
const char* RadioComponentController::_imageCenter = "radioCenter.png";
const char* RadioComponentController::_imageHome = "radioHome.png";
const char* RadioComponentController::_imageThrottleUp = "radioThrottleUp.png";
const char* RadioComponentController::_imageThrottleDown = "radioThrottleDown.png";
const char* RadioComponentController::_imageYawLeft = "radioYawLeft.png";
const char* RadioComponentController::_imageYawRight = "radioYawRight.png";
const char* RadioComponentController::_imageRollLeft = "radioRollLeft.png";
const char* RadioComponentController::_imageRollRight = "radioRollRight.png";
const char* RadioComponentController::_imagePitchUp = "radioPitchUp.png";
const char* RadioComponentController::_imagePitchDown = "radioPitchDown.png";
const char* RadioComponentController::_imageYawLeft = "radioYawLeft.png";
const char* RadioComponentController::_imageYawRight = "radioYawRight.png";
const char* RadioComponentController::_imageRollLeft = "radioRollLeft.png";
const char* RadioComponentController::_imageRollRight = "radioRollRight.png";
const char* RadioComponentController::_imagePitchUp = "radioPitchUp.png";
const char* RadioComponentController::_imagePitchDown = "radioPitchDown.png";
const char* RadioComponentController::_imageSwitchMinMax = "radioSwitchMinMax.png";
const char* RadioComponentController::_settingsGroup = "RadioCalibration";
const char* RadioComponentController::_settingsGroup = "RadioCalibration";
const char* RadioComponentController::_settingsKeyTransmitterMode = "TransmitterMode";
const char* RadioComponentController::_px4RevParamFormat = "RC%1_REV";
const char* RadioComponentController::_apmNewRevParamFormat = "RC%1_REVERSED";
const struct RadioComponentController::FunctionInfo RadioComponentController::_rgFunctionInfoPX4[RadioComponentController::rcCalFunctionMax] = {
{ "RC_MAP_ROLL" },
{ "RC_MAP_PITCH" },
{ "RC_MAP_YAW" },
{ "RC_MAP_THROTTLE" }
{ "RC_MAP_ROLL" },
{ "RC_MAP_PITCH" },
{ "RC_MAP_YAW" },
{ "RC_MAP_THROTTLE" }
};
const struct RadioComponentController::FunctionInfo RadioComponentController::_rgFunctionInfoAPM[RadioComponentController::rcCalFunctionMax] = {
{ "RCMAP_ROLL" },
{ "RCMAP_PITCH" },
{ "RCMAP_YAW" },
{ "RCMAP_THROTTLE" }
{ "RCMAP_ROLL" },
{ "RCMAP_PITCH" },
{ "RCMAP_YAW" },
{ "RCMAP_THROTTLE" }
};
RadioComponentController::RadioComponentController(void) :
_currentStep(-1),
_transmitterMode(2),
_chanCount(0),
_rcCalState(rcCalStateChannelWait),
_unitTestMode(false),
_statusText(NULL),
_cancelButton(NULL),
_nextButton(NULL),
_skipButton(NULL)
RadioComponentController::RadioComponentController(void)
: _currentStep(-1)
, _transmitterMode(2)
, _chanCount(0)
, _rcCalState(rcCalStateChannelWait)
, _unitTestMode(false)
, _statusText(NULL)
, _cancelButton(NULL)
, _nextButton(NULL)
, _skipButton(NULL)
{
#ifdef UNITTEST_BUILD
// Nasty hack to expose controller to unit test code
_unitTestController = this;
#endif
if (parameterExists(FactSystem::defaultComponentId, QStringLiteral("RC1_REVERSED"))) {
// Newer ardupilot firmwares have a different reverse param naming scheme and value scheme
_revParamFormat = _apmNewRevParamFormat;
_revParamIsBool = true; // param value is boolean 0/1 for reversed or not
} else {
// Older ardupilot firmwares share the same naming convention as PX4
_revParamFormat = _px4RevParamFormat;
_revParamIsBool = false; // paeram value if -1 indicates reversed
}
connect(_vehicle, &Vehicle::rcChannelsChanged, this, &RadioComponentController::_rcChannelsChanged);
_loadSettings();
......@@ -226,7 +239,7 @@ void RadioComponentController::_rcChannelsChanged(int channelCount, int pwmValue
int channelValue = pwmValues[channel];
if (channelValue != -1) {
qCDebug(RadioComponentControllerLog) << "Raw value" << channel << channelValue;
qCDebug(RadioComponentControllerVerboseLog) << "Raw value" << channel << channelValue;
_rcRawValue[channel] = channelValue;
emit channelRCValueChanged(channel, channelValue);
......@@ -259,9 +272,12 @@ void RadioComponentController::_rcChannelsChanged(int channelCount, int pwmValue
}
} else {
const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
Q_ASSERT(state);
if (state->rcInputFn) {
(this->*state->rcInputFn)(state->function, channel, channelValue);
if (state) {
if (state->rcInputFn) {
(this->*state->rcInputFn)(state->function, channel, channelValue);
}
} else {
qWarning() << "Internal error: NULL _getStateMachineEntry return";
}
}
}
......@@ -283,20 +299,27 @@ void RadioComponentController::nextButtonClicked(void)
_startCalibration();
} else {
const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
Q_ASSERT(state);
Q_ASSERT(state->nextFn);
(this->*state->nextFn)();
if (state && state->nextFn) {
(this->*state->nextFn)();
} else {
qWarning() << "Internal error: NULL _getStateMachineEntry return";
}
}
}
void RadioComponentController::skipButtonClicked(void)
{
Q_ASSERT(_currentStep != -1);
if (_currentStep == -1) {
qWarning() << "Internal error: _currentStep == -1";
return;
}
const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
Q_ASSERT(state);
Q_ASSERT(state->skipFn);
(this->*state->skipFn)();
if (state && state->skipFn) {
(this->*state->skipFn)();
} else {
qWarning() << "Internal error: NULL _getStateMachineEntry return";
}
}
void RadioComponentController::cancelButtonClicked(void)
......@@ -581,9 +604,6 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
QString minTpl("RC%1_MIN");
QString maxTpl("RC%1_MAX");
QString trimTpl("RC%1_TRIM");
QString revTpl("RC%1_REV");
bool convertOk;
for (int i = 0; i < _chanMax(); ++i) {
struct ChannelInfo* info = &_rgChannelInfo[i];
......@@ -601,29 +621,20 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
Fact* paramFact = getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(i+1));
if (paramFact) {
info->rcTrim = paramFact->rawValue().toInt(&convertOk);
Q_ASSERT(convertOk);
info->rcTrim = paramFact->rawValue().toInt();
}
paramFact = getParameterFact(FactSystem::defaultComponentId, minTpl.arg(i+1));
if (paramFact) {
info->rcMin = paramFact->rawValue().toInt(&convertOk);
Q_ASSERT(convertOk);
info->rcMin = paramFact->rawValue().toInt();
}
paramFact = getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(i+1));
if (paramFact) {
info->rcMax = getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(i+1))->rawValue().toInt(&convertOk);
Q_ASSERT(convertOk);
info->rcMax = getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(i+1))->rawValue().toInt();
}
paramFact = getParameterFact(FactSystem::defaultComponentId, revTpl.arg(i+1));
if (paramFact) {
float floatReversed = paramFact->rawValue().toFloat(&convertOk);
Q_ASSERT(convertOk);
Q_ASSERT(floatReversed == 1.0f || floatReversed == -1.0f);
info->reversed = floatReversed == -1.0f;
}
info->reversed = _channelReversedParamValue(i);
}
for (int i=0; i<rcCalFunctionMax; i++) {
......@@ -633,8 +644,7 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
if (paramName) {
Fact* paramFact = getParameterFact(FactSystem::defaultComponentId, paramName);
if (paramFact) {
paramChannel = paramFact->rawValue().toInt(&convertOk);
Q_ASSERT(convertOk);
paramChannel = paramFact->rawValue().toInt();
if (paramChannel != 0) {
_rgFunctionChannelMapping[i] = paramChannel - 1;
......@@ -668,21 +678,21 @@ void RadioComponentController::_validateCalibration(void)
info->rcTrim = info->rcMin + ((info->rcMax - info->rcMin) / 2);
} else {
switch (_rgChannelInfo[chan].function) {
case rcCalFunctionThrottle:
case rcCalFunctionYaw:
case rcCalFunctionRoll:
case rcCalFunctionPitch:
// Make sure trim is within min/max
if (info->rcTrim < info->rcMin) {
info->rcTrim = info->rcMin;
} else if (info->rcTrim > info->rcMax) {
info->rcTrim = info->rcMax;
}
break;
default:
// Non-attitude control channels have calculated trim
info->rcTrim = info->rcMin + ((info->rcMax - info->rcMin) / 2);
break;
case rcCalFunctionThrottle:
case rcCalFunctionYaw:
case rcCalFunctionRoll:
case rcCalFunctionPitch:
// Make sure trim is within min/max
if (info->rcTrim < info->rcMin) {
info->rcTrim = info->rcMin;
} else if (info->rcTrim > info->rcMax) {
info->rcTrim = info->rcMax;
}
break;
default:
// Non-attitude control channels have calculated trim
info->rcTrim = info->rcMin + ((info->rcMax - info->rcMin) / 2);
break;
}
}
......@@ -717,7 +727,6 @@ void RadioComponentController::_writeCalibration(void)
QString minTpl("RC%1_MIN");
QString maxTpl("RC%1_MAX");
QString trimTpl("RC%1_TRIM");
QString revTpl("RC%1_REV");
// Note that the rc parameters are all float, so you must cast to float in order to get the right QVariant
for (int chan = 0; chan<_chanMax(); chan++) {
......@@ -746,16 +755,13 @@ void RadioComponentController::_writeCalibration(void)
// may affect channel reversing so we can't automatically determine it. This is ok for PX4 given how it uses mixers, but not for ArduPilot.
if (_vehicle->px4Firmware() || _vehicle->multiRotor()) {
// APM multi-rotor has a backwards interpretation of "reversed" on the Pitch control. So be careful.
float reversedParamValue;
bool reversed;
if (_px4Vehicle() || info->function != rcCalFunctionPitch) {
reversedParamValue = info->reversed ? -1.0f : 1.0f;
reversed = info->reversed;
} else {
reversedParamValue = info->reversed ? 1.0f : -1.0f;
}
paramFact = getParameterFact(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel));
if (paramFact) {
paramFact->setRawValue(reversedParamValue);
reversed = !info->reversed;
}
_setChannelReversedParamValue(chan, reversed);
}
}
......@@ -797,7 +803,10 @@ void RadioComponentController::_writeCalibration(void)
/// @brief Starts the calibration process
void RadioComponentController::_startCalibration(void)
{
Q_ASSERT(_chanCount >= _chanMinimum);
if (_chanCount < _chanMinimum) {
qWarning() << "Call to RadioComponentController::_startCalibration with _chanCount < _chanMinimum";
return;
}
_resetInternalCalibrationValues();
......@@ -853,7 +862,7 @@ void RadioComponentController::_rcCalSave(void)
_statusText->setProperty("text",
"The current calibration settings are now displayed for each channel on screen.\n\n"
"Click the Next button to upload calibration to board. Click Cancel if you don't want to save these values.");
"Click the Next button to upload calibration to board. Click Cancel if you don't want to save these values.");
_nextButton->setEnabled(true);
_skipButton->setEnabled(false);
......@@ -895,7 +904,8 @@ void RadioComponentController::_setHelpImage(const char* imageFile)
} else if (_transmitterMode == 2) {
file += _imageFileMode2Dir;
} else {
Q_ASSERT(false);
qWarning() << "Internal error: Bad _transmitterMode value";
return;
}
file += imageFile;
......@@ -1045,3 +1055,34 @@ int RadioComponentController::_chanMax(void) const
{
return _px4Vehicle() ? _chanMaxPX4 : _chanMaxAPM;
}
bool RadioComponentController::_channelReversedParamValue(int channel)
{
Fact* paramFact = getParameterFact(FactSystem::defaultComponentId, _revParamFormat.arg(channel+1));
if (paramFact) {
if (_revParamIsBool) {
return paramFact->rawValue().toBool();
} else {
bool convertOk;
float floatReversed = paramFact->rawValue().toFloat(&convertOk);
if (!convertOk) {
floatReversed = 1.0f;
}
return floatReversed == -1.0f;
}
}
return false;
}
void RadioComponentController::_setChannelReversedParamValue(int channel, bool reversed)
{
Fact* paramFact = getParameterFact(FactSystem::defaultComponentId, _revParamFormat.arg(channel+1));
if (paramFact) {
if (_revParamIsBool) {
paramFact->setRawValue(reversed);
} else {
paramFact->setRawValue(reversed ? -1.0f : 1.0f);
}
}
}
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.Copter.3.5.xml
View file @ 4dab0e1e
This source diff could not be displayed because it is too large. You can view the blob instead.
src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.8.xml 0 → 100644
View file @ 4dab0e1e
This source diff could not be displayed because it is too large. You can view the blob instead.
src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.2.xml 0 → 100644
View file @ 4dab0e1e
This source diff could not be displayed because it is too large. You can view the blob instead.
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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