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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 { ...@@ -55,21 +55,23 @@ SetupPage {
property Fact _mountAngMinPan: controller.getParameterFact(-1, "MNT_ANGMIN_PAN") property Fact _mountAngMinPan: controller.getParameterFact(-1, "MNT_ANGMIN_PAN")
property Fact _mountAngMaxPan: controller.getParameterFact(-1, "MNT_ANGMAX_PAN") property Fact _mountAngMaxPan: controller.getParameterFact(-1, "MNT_ANGMAX_PAN")
property Fact _rc5Function: controller.getParameterFact(-1, "RC5_FUNCTION") property Fact _rc5Function: controller.getParameterFact(-1, "r.SERVO5_FUNCTION")
property Fact _rc6Function: controller.getParameterFact(-1, "RC6_FUNCTION") property Fact _rc6Function: controller.getParameterFact(-1, "r.SERVO6_FUNCTION")
property Fact _rc7Function: controller.getParameterFact(-1, "RC7_FUNCTION") property Fact _rc7Function: controller.getParameterFact(-1, "r.SERVO7_FUNCTION")
property Fact _rc8Function: controller.getParameterFact(-1, "RC8_FUNCTION") property Fact _rc8Function: controller.getParameterFact(-1, "r.SERVO8_FUNCTION")
property Fact _rc9Function: controller.getParameterFact(-1, "RC9_FUNCTION") property Fact _rc9Function: controller.getParameterFact(-1, "r.SERVO9_FUNCTION")
property Fact _rc10Function: controller.getParameterFact(-1, "RC10_FUNCTION") property Fact _rc10Function: controller.getParameterFact(-1, "r.SERVO10_FUNCTION")
property Fact _rc11Function: controller.getParameterFact(-1, "RC11_FUNCTION") property Fact _rc11Function: controller.getParameterFact(-1, "r.SERVO11_FUNCTION")
property Fact _rc12Function: controller.getParameterFact(-1, "RC12_FUNCTION") property Fact _rc12Function: controller.getParameterFact(-1, "r.SERVO12_FUNCTION")
property Fact _rc13Function: controller.getParameterFact(-1, "RC13_FUNCTION") property Fact _rc13Function: controller.getParameterFact(-1, "r.SERVO13_FUNCTION")
property Fact _rc14Function: controller.getParameterFact(-1, "RC14_FUNCTION") property Fact _rc14Function: controller.getParameterFact(-1, "r.SERVO14_FUNCTION")
property bool _tiltEnabled: false property bool _tiltEnabled: false
property bool _panEnabled: false property bool _panEnabled: false
property bool _rollEnabled: false property bool _rollEnabled: false
property bool _servoReverseIsBool: controller.parameterExists(-1, "RC5_REVERSED")
// Gimbal Settings not available on older firmware // Gimbal Settings not available on older firmware
property bool _showGimbaLSettings: controller.parameterExists(-1, "MNT_DEFLT_MODE") property bool _showGimbaLSettings: controller.parameterExists(-1, "MNT_DEFLT_MODE")
...@@ -95,10 +97,17 @@ SetupPage { ...@@ -95,10 +97,17 @@ SetupPage {
loader.gimbalOutIndex = channel - 4 loader.gimbalOutIndex = channel - 4
loader.servoPWMMinFact = controller.getParameterFact(-1, rcPrefix + "MIN") loader.servoPWMMinFact = controller.getParameterFact(-1, rcPrefix + "MIN")
loader.servoPWMMaxFact = controller.getParameterFact(-1, rcPrefix + "MAX") loader.servoPWMMaxFact = controller.getParameterFact(-1, rcPrefix + "MAX")
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") 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. /// to find them and setup the ui accordindly.
function calcGimbalOutValues() { function calcGimbalOutValues() {
gimbalDirectionTiltLoader.gimbalOutIndex = 0 gimbalDirectionTiltLoader.gimbalOutIndex = 0
...@@ -108,7 +117,7 @@ SetupPage { ...@@ -108,7 +117,7 @@ SetupPage {
_panEnabled = false _panEnabled = false
_rollEnabled = false _rollEnabled = false
for (var channel=_firstGimbalOutChannel; channel<=_lastGimbalOutChannel; channel++) { 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) { if (functionFact.value == _rcFunctionMountTilt) {
_tiltEnabled = true _tiltEnabled = true
setGimbalSettingsServoInfo(gimbalDirectionTiltLoader, channel) setGimbalSettingsServoInfo(gimbalDirectionTiltLoader, channel)
...@@ -125,7 +134,7 @@ SetupPage { ...@@ -125,7 +134,7 @@ SetupPage {
function setRCFunction(channel, rcFunction) { function setRCFunction(channel, rcFunction) {
// First clear any previous settings for this function // First clear any previous settings for this function
for (var index=_firstGimbalOutChannel; index<=_lastGimbalOutChannel; index++) { 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) { if (functionFact.value != _rcFunctionDisabled && functionFact.value == rcFunction) {
functionFact.value = _rcFunctionDisabled functionFact.value = _rcFunctionDisabled
} }
...@@ -133,12 +142,12 @@ SetupPage { ...@@ -133,12 +142,12 @@ SetupPage {
// Now set the function into the new channel // Now set the function into the new channel
if (channel != 0) { if (channel != 0) {
var functionFact = controller.getParameterFact(-1, "RC" + channel + "_FUNCTION") var functionFact = controller.getParameterFact(-1, "r.SERVO" + channel + "_FUNCTION")
functionFact.value = rcFunction 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: _rc5Function; onValueChanged: calcGimbalOutValues() }
Connections { target: _rc6Function; onValueChanged: calcGimbalOutValues() } Connections { target: _rc6Function; onValueChanged: calcGimbalOutValues() }
Connections { target: _rc7Function; onValueChanged: calcGimbalOutValues() } Connections { target: _rc7Function; onValueChanged: calcGimbalOutValues() }
...@@ -195,6 +204,7 @@ SetupPage { ...@@ -195,6 +204,7 @@ SetupPage {
// property Fact servoPWMMinFact // property Fact servoPWMMinFact
// property Fact servoPWMMaxFact // property Fact servoPWMMaxFact
// property Fact servoReverseFact // property Fact servoReverseFact
// property bool servoReverseIsBool
// property int rcFunction // property int rcFunction
Item { Item {
...@@ -234,10 +244,12 @@ SetupPage { ...@@ -234,10 +244,12 @@ SetupPage {
anchors.top: mountStabCheckBox.bottom anchors.top: mountStabCheckBox.bottom
anchors.right: parent.right anchors.right: parent.right
text: qsTr("Servo reverse") text: qsTr("Servo reverse")
checkedValue: 1 checkedValue: _servoReverseIsBool ? 1 : -1
uncheckedValue: 0 uncheckedValue: _servoReverseIsBool ? 0 : 1
fact: servoReverseFact fact: servoReverseFact
enabled: directionEnabled enabled: directionEnabled
property bool _servoReverseIsBool: servoReverseIsBool
} }
QGCLabel { QGCLabel {
...@@ -462,6 +474,7 @@ SetupPage { ...@@ -462,6 +474,7 @@ SetupPage {
property Fact servoPWMMinFact: Fact { } property Fact servoPWMMinFact: Fact { }
property Fact servoPWMMaxFact: Fact { } property Fact servoPWMMaxFact: Fact { }
property Fact servoReverseFact: Fact { } property Fact servoReverseFact: Fact { }
property bool servoReverseIsBool: _servoReverseIsBool
property int rcFunction: _rcFunctionMountTilt property int rcFunction: _rcFunctionMountTilt
} }
...@@ -479,6 +492,7 @@ SetupPage { ...@@ -479,6 +492,7 @@ SetupPage {
property Fact servoPWMMinFact: Fact { } property Fact servoPWMMinFact: Fact { }
property Fact servoPWMMaxFact: Fact { } property Fact servoPWMMaxFact: Fact { }
property Fact servoReverseFact: Fact { } property Fact servoReverseFact: Fact { }
property bool servoReverseIsBool: _servoReverseIsBool
property int rcFunction: _rcFunctionMountRoll property int rcFunction: _rcFunctionMountRoll
} }
...@@ -496,6 +510,7 @@ SetupPage { ...@@ -496,6 +510,7 @@ SetupPage {
property Fact servoPWMMinFact: Fact { } property Fact servoPWMMinFact: Fact { }
property Fact servoPWMMaxFact: Fact { } property Fact servoPWMMaxFact: Fact { }
property Fact servoReverseFact: Fact { } property Fact servoReverseFact: Fact { }
property bool servoReverseIsBool: _servoReverseIsBool
property int rcFunction: _rcFunctionMountPan property int rcFunction: _rcFunctionMountPan
} }
......
src/AutoPilotPlugins/APM/APMLightsComponent.qml
View file @ 4dab0e1e
...@@ -32,16 +32,16 @@ SetupPage { ...@@ -32,16 +32,16 @@ SetupPage {
QGCPalette { id: palette; colorGroupEnabled: true } QGCPalette { id: palette; colorGroupEnabled: true }
property Fact _rc5Function: controller.getParameterFact(-1, "RC5_FUNCTION") property Fact _rc5Function: controller.getParameterFact(-1, "r.SERVO5_FUNCTION")
property Fact _rc6Function: controller.getParameterFact(-1, "RC6_FUNCTION") property Fact _rc6Function: controller.getParameterFact(-1, "r.SERVO6_FUNCTION")
property Fact _rc7Function: controller.getParameterFact(-1, "RC7_FUNCTION") property Fact _rc7Function: controller.getParameterFact(-1, "r.SERVO7_FUNCTION")
property Fact _rc8Function: controller.getParameterFact(-1, "RC8_FUNCTION") property Fact _rc8Function: controller.getParameterFact(-1, "r.SERVO8_FUNCTION")
property Fact _rc9Function: controller.getParameterFact(-1, "RC9_FUNCTION") property Fact _rc9Function: controller.getParameterFact(-1, "r.SERVO9_FUNCTION")
property Fact _rc10Function: controller.getParameterFact(-1, "RC10_FUNCTION") property Fact _rc10Function: controller.getParameterFact(-1, "r.SERVO10_FUNCTION")
property Fact _rc11Function: controller.getParameterFact(-1, "RC11_FUNCTION") property Fact _rc11Function: controller.getParameterFact(-1, "r.SERVO11_FUNCTION")
property Fact _rc12Function: controller.getParameterFact(-1, "RC12_FUNCTION") property Fact _rc12Function: controller.getParameterFact(-1, "r.SERVO12_FUNCTION")
property Fact _rc13Function: controller.getParameterFact(-1, "RC13_FUNCTION") property Fact _rc13Function: controller.getParameterFact(-1, "r.SERVO13_FUNCTION")
property Fact _rc14Function: controller.getParameterFact(-1, "RC14_FUNCTION") property Fact _rc14Function: controller.getParameterFact(-1, "r.SERVO14_FUNCTION")
readonly property real _margins: ScreenTools.defaultFontPixelHeight readonly property real _margins: ScreenTools.defaultFontPixelHeight
readonly property int _rcFunctionDisabled: 0 readonly property int _rcFunctionDisabled: 0
...@@ -54,13 +54,13 @@ SetupPage { ...@@ -54,13 +54,13 @@ SetupPage {
calcLightOutValues() 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. /// to find them and setup the ui accordindly.
function calcLightOutValues() { function calcLightOutValues() {
lightsLoader.lights1OutIndex = 0 lightsLoader.lights1OutIndex = 0
lightsLoader.lights2OutIndex = 0 lightsLoader.lights2OutIndex = 0
for (var channel=_firstLightsOutChannel; channel<=_lastLightsOutChannel; channel++) { 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) { if (functionFact.value == _rcFunctionRCIN9) {
lightsLoader.lights1OutIndex = channel - 4 lightsLoader.lights1OutIndex = channel - 4
} else if (functionFact.value == _rcFunctionRCIN10) { } else if (functionFact.value == _rcFunctionRCIN10) {
...@@ -72,7 +72,7 @@ SetupPage { ...@@ -72,7 +72,7 @@ SetupPage {
function setRCFunction(channel, rcFunction) { function setRCFunction(channel, rcFunction) {
// First clear any previous settings for this function // First clear any previous settings for this function
for (var index=_firstLightsOutChannel; index<=_lastLightsOutChannel; index++) { 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) { if (functionFact.value != _rcFunctionDisabled && functionFact.value == rcFunction) {
functionFact.value = _rcFunctionDisabled functionFact.value = _rcFunctionDisabled
} }
...@@ -80,12 +80,12 @@ SetupPage { ...@@ -80,12 +80,12 @@ SetupPage {
// Now set the function into the new channel // Now set the function into the new channel
if (channel != 0) { if (channel != 0) {
var functionFact = controller.getParameterFact(-1, "RC" + channel + "_FUNCTION") var functionFact = controller.getParameterFact(-1, "r.SERVO" + channel + "_FUNCTION")
functionFact.value = rcFunction 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: _rc5Function; onValueChanged: calcLightOutValues() }
Connections { target: _rc6Function; onValueChanged: calcLightOutValues() } Connections { target: _rc6Function; onValueChanged: calcLightOutValues() }
Connections { target: _rc7Function; onValueChanged: calcLightOutValues() } Connections { target: _rc7Function; onValueChanged: calcLightOutValues() }
......
src/AutoPilotPlugins/APM/APMLightsComponentSummary.qml
View file @ 4dab0e1e
...@@ -14,16 +14,16 @@ FactPanel { ...@@ -14,16 +14,16 @@ FactPanel {
QGCPalette { id: qgcPal; colorGroupEnabled: enabled } QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
FactPanelController { id: controller; factPanel: panel } FactPanelController { id: controller; factPanel: panel }
property Fact _rc5Function: controller.getParameterFact(-1, "RC5_FUNCTION") property Fact _rc5Function: controller.getParameterFact(-1, "r.SERVO5_FUNCTION")
property Fact _rc6Function: controller.getParameterFact(-1, "RC6_FUNCTION") property Fact _rc6Function: controller.getParameterFact(-1, "r.SERVO6_FUNCTION")
property Fact _rc7Function: controller.getParameterFact(-1, "RC7_FUNCTION") property Fact _rc7Function: controller.getParameterFact(-1, "r.SERVO7_FUNCTION")
property Fact _rc8Function: controller.getParameterFact(-1, "RC8_FUNCTION") property Fact _rc8Function: controller.getParameterFact(-1, "r.SERVO8_FUNCTION")
property Fact _rc9Function: controller.getParameterFact(-1, "RC9_FUNCTION") property Fact _rc9Function: controller.getParameterFact(-1, "r.SERVO9_FUNCTION")
property Fact _rc10Function: controller.getParameterFact(-1, "RC10_FUNCTION") property Fact _rc10Function: controller.getParameterFact(-1, "r.SERVO10_FUNCTION")
property Fact _rc11Function: controller.getParameterFact(-1, "RC11_FUNCTION") property Fact _rc11Function: controller.getParameterFact(-1, "r.SERVO11_FUNCTION")
property Fact _rc12Function: controller.getParameterFact(-1, "RC12_FUNCTION") property Fact _rc12Function: controller.getParameterFact(-1, "r.SERVO12_FUNCTION")
property Fact _rc13Function: controller.getParameterFact(-1, "RC13_FUNCTION") property Fact _rc13Function: controller.getParameterFact(-1, "r.SERVO13_FUNCTION")
property Fact _rc14Function: controller.getParameterFact(-1, "RC14_FUNCTION") property Fact _rc14Function: controller.getParameterFact(-1, "r.SERVO14_FUNCTION")
readonly property int _rcFunctionRCIN9: 59 readonly property int _rcFunctionRCIN9: 59
readonly property int _rcFunctionRCIN10: 60 readonly property int _rcFunctionRCIN10: 60
...@@ -34,13 +34,13 @@ FactPanel { ...@@ -34,13 +34,13 @@ FactPanel {
calcLightOutValues() 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. /// to find them and setup the ui accordindly.
function calcLightOutValues() { function calcLightOutValues() {
lightsLoader.lights1OutIndex = 0 lightsLoader.lights1OutIndex = 0
lightsLoader.lights2OutIndex = 0 lightsLoader.lights2OutIndex = 0
for (var channel=_firstLightsOutChannel; channel<=_lastLightsOutChannel; channel++) { 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) { if (functionFact.value == _rcFunctionRCIN9) {
lightsLoader.lights1OutIndex = channel - 4 lightsLoader.lights1OutIndex = channel - 4
} else if (functionFact.value == _rcFunctionRCIN10) { } else if (functionFact.value == _rcFunctionRCIN10) {
...@@ -49,7 +49,7 @@ FactPanel { ...@@ -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: _rc5Function; onValueChanged: calcLightOutValues() }
Connections { target: _rc6Function; onValueChanged: calcLightOutValues() } Connections { target: _rc6Function; onValueChanged: calcLightOutValues() }
Connections { target: _rc7Function; onValueChanged: calcLightOutValues() } Connections { target: _rc7Function; onValueChanged: calcLightOutValues() }
......
src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml
View file @ 4dab0e1e
...@@ -84,7 +84,7 @@ SetupPage { ...@@ -84,7 +84,7 @@ SetupPage {
calcAutoTuneChannel() 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. /// to find them and setup the ui accordindly.
function calcAutoTuneChannel() { function calcAutoTuneChannel() {
_autoTuneSwitchChannelIndex = 0 _autoTuneSwitchChannelIndex = 0
......
src/AutoPilotPlugins/Common/RadioComponentController.cc
View file @ 4dab0e1e
...@@ -18,6 +18,7 @@ ...@@ -18,6 +18,7 @@
#include <QSettings> #include <QSettings>
QGC_LOGGING_CATEGORY(RadioComponentControllerLog, "RadioComponentControllerLog") QGC_LOGGING_CATEGORY(RadioComponentControllerLog, "RadioComponentControllerLog")
QGC_LOGGING_CATEGORY(RadioComponentControllerVerboseLog, "RadioComponentControllerVerboseLog")
#ifdef UNITTEST_BUILD #ifdef UNITTEST_BUILD
// Nasty hack to expose controller to unit test code // Nasty hack to expose controller to unit test code
...@@ -26,7 +27,6 @@ RadioComponentController* RadioComponentController::_unitTestController = NULL; ...@@ -26,7 +27,6 @@ RadioComponentController* RadioComponentController::_unitTestController = NULL;
const int RadioComponentController::_updateInterval = 150; ///< Interval for timer which updates radio channel widgets 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; 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::_rcCalPWMValidMinValue = 1300; ///< Largest valid minimum PWM Min range value
const int RadioComponentController::_rcCalPWMValidMaxValue = 1700; ///< Smallest valid maximum PWM Max 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::_rcCalPWMDefaultMinValue = 1000; ///< Default value for Min if not set
...@@ -56,36 +56,49 @@ const char* RadioComponentController::_imageSwitchMinMax = "radioSwitchMinMax.p ...@@ -56,36 +56,49 @@ const char* RadioComponentController::_imageSwitchMinMax = "radioSwitchMinMax.p
const char* RadioComponentController::_settingsGroup = "RadioCalibration"; const char* RadioComponentController::_settingsGroup = "RadioCalibration";
const char* RadioComponentController::_settingsKeyTransmitterMode = "TransmitterMode"; 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] = { const struct RadioComponentController::FunctionInfo RadioComponentController::_rgFunctionInfoPX4[RadioComponentController::rcCalFunctionMax] = {
{ "RC_MAP_ROLL" }, { "RC_MAP_ROLL" },
{ "RC_MAP_PITCH" }, { "RC_MAP_PITCH" },
{ "RC_MAP_YAW" }, { "RC_MAP_YAW" },
{ "RC_MAP_THROTTLE" } { "RC_MAP_THROTTLE" }
}; };
const struct RadioComponentController::FunctionInfo RadioComponentController::_rgFunctionInfoAPM[RadioComponentController::rcCalFunctionMax] = { const struct RadioComponentController::FunctionInfo RadioComponentController::_rgFunctionInfoAPM[RadioComponentController::rcCalFunctionMax] = {
{ "RCMAP_ROLL" }, { "RCMAP_ROLL" },
{ "RCMAP_PITCH" }, { "RCMAP_PITCH" },
{ "RCMAP_YAW" }, { "RCMAP_YAW" },
{ "RCMAP_THROTTLE" } { "RCMAP_THROTTLE" }
}; };
RadioComponentController::RadioComponentController(void) : RadioComponentController::RadioComponentController(void)
_currentStep(-1), : _currentStep(-1)
_transmitterMode(2), , _transmitterMode(2)
_chanCount(0), , _chanCount(0)
_rcCalState(rcCalStateChannelWait), , _rcCalState(rcCalStateChannelWait)
_unitTestMode(false), , _unitTestMode(false)
_statusText(NULL), , _statusText(NULL)
_cancelButton(NULL), , _cancelButton(NULL)
_nextButton(NULL), , _nextButton(NULL)
_skipButton(NULL) , _skipButton(NULL)
{ {
#ifdef UNITTEST_BUILD #ifdef UNITTEST_BUILD
// Nasty hack to expose controller to unit test code // Nasty hack to expose controller to unit test code
_unitTestController = this; _unitTestController = this;
#endif #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); connect(_vehicle, &Vehicle::rcChannelsChanged, this, &RadioComponentController::_rcChannelsChanged);
_loadSettings(); _loadSettings();
...@@ -226,7 +239,7 @@ void RadioComponentController::_rcChannelsChanged(int channelCount, int pwmValue ...@@ -226,7 +239,7 @@ void RadioComponentController::_rcChannelsChanged(int channelCount, int pwmValue
int channelValue = pwmValues[channel]; int channelValue = pwmValues[channel];
if (channelValue != -1) { if (channelValue != -1) {
qCDebug(RadioComponentControllerLog) << "Raw value" << channel << channelValue; qCDebug(RadioComponentControllerVerboseLog) << "Raw value" << channel << channelValue;
_rcRawValue[channel] = channelValue; _rcRawValue[channel] = channelValue;
emit channelRCValueChanged(channel, channelValue); emit channelRCValueChanged(channel, channelValue);
...@@ -259,10 +272,13 @@ void RadioComponentController::_rcChannelsChanged(int channelCount, int pwmValue ...@@ -259,10 +272,13 @@ void RadioComponentController::_rcChannelsChanged(int channelCount, int pwmValue
} }
} else { } else {
const stateMachineEntry* state = _getStateMachineEntry(_currentStep); const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
Q_ASSERT(state); if (state) {
if (state->rcInputFn) { if (state->rcInputFn) {
(this->*state->rcInputFn)(state->function, channel, channelValue); (this->*state->rcInputFn)(state->function, channel, channelValue);
} }
} else {
qWarning() << "Internal error: NULL _getStateMachineEntry return";
}
} }
} }
} }
...@@ -283,20 +299,27 @@ void RadioComponentController::nextButtonClicked(void) ...@@ -283,20 +299,27 @@ void RadioComponentController::nextButtonClicked(void)
_startCalibration(); _startCalibration();
} else { } else {
const stateMachineEntry* state = _getStateMachineEntry(_currentStep); const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
Q_ASSERT(state); if (state && state->nextFn) {
Q_ASSERT(state->nextFn);
(this->*state->nextFn)(); (this->*state->nextFn)();
} else {
qWarning() << "Internal error: NULL _getStateMachineEntry return";
}
} }
} }
void RadioComponentController::skipButtonClicked(void) void RadioComponentController::skipButtonClicked(void)
{ {
Q_ASSERT(_currentStep != -1); if (_currentStep == -1) {
qWarning() << "Internal error: _currentStep == -1";
return;
}
const stateMachineEntry* state = _getStateMachineEntry(_currentStep); const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
Q_ASSERT(state); if (state && state->skipFn) {
Q_ASSERT(state->skipFn);
(this->*state->skipFn)(); (this->*state->skipFn)();
} else {
qWarning() << "Internal error: NULL _getStateMachineEntry return";
}
} }
void RadioComponentController::cancelButtonClicked(void) void RadioComponentController::cancelButtonClicked(void)
...@@ -581,9 +604,6 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void) ...@@ -581,9 +604,6 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
QString minTpl("RC%1_MIN"); QString minTpl("RC%1_MIN");
QString maxTpl("RC%1_MAX"); QString maxTpl("RC%1_MAX");
QString trimTpl("RC%1_TRIM"); QString trimTpl("RC%1_TRIM");
QString revTpl("RC%1_REV");
bool convertOk;
for (int i = 0; i < _chanMax(); ++i) { for (int i = 0; i < _chanMax(); ++i) {
struct ChannelInfo* info = &_rgChannelInfo[i]; struct ChannelInfo* info = &_rgChannelInfo[i];
...@@ -601,29 +621,20 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void) ...@@ -601,29 +621,20 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
Fact* paramFact = getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(i+1)); Fact* paramFact = getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(i+1));
if (paramFact) { if (paramFact) {
info->rcTrim = paramFact->rawValue().toInt(&convertOk); info->rcTrim = paramFact->rawValue().toInt();
Q_ASSERT(convertOk);
} }
paramFact = getParameterFact(FactSystem::defaultComponentId, minTpl.arg(i+1)); paramFact = getParameterFact(FactSystem::defaultComponentId, minTpl.arg(i+1));
if (paramFact) { if (paramFact) {
info->rcMin = paramFact->rawValue().toInt(&convertOk); info->rcMin = paramFact->rawValue().toInt();
Q_ASSERT(convertOk);
} }
paramFact = getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(i+1)); paramFact = getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(i+1));
if (paramFact) { if (paramFact) {
info->rcMax = getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(i+1))->rawValue().toInt(&convertOk); info->rcMax = getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(i+1))->rawValue().toInt();
Q_ASSERT(convertOk);
} }
paramFact = getParameterFact(FactSystem::defaultComponentId, revTpl.arg(i+1)); info->reversed = _channelReversedParamValue(i);
if (paramFact) {
float floatReversed = paramFact->rawValue().toFloat(&convertOk);
Q_ASSERT(convertOk);
Q_ASSERT(floatReversed == 1.0f || floatReversed == -1.0f);
info->reversed = floatReversed == -1.0f;
}
} }
for (int i=0; i<rcCalFunctionMax; i++) { for (int i=0; i<rcCalFunctionMax; i++) {
...@@ -633,8 +644,7 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void) ...@@ -633,8 +644,7 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
if (paramName) { if (paramName) {
Fact* paramFact = getParameterFact(FactSystem::defaultComponentId, paramName); Fact* paramFact = getParameterFact(FactSystem::defaultComponentId, paramName);
if (paramFact) { if (paramFact) {
paramChannel = paramFact->rawValue().toInt(&convertOk); paramChannel = paramFact->rawValue().toInt();
Q_ASSERT(convertOk);
if (paramChannel != 0) { if (paramChannel != 0) {
_rgFunctionChannelMapping[i] = paramChannel - 1; _rgFunctionChannelMapping[i] = paramChannel - 1;
...@@ -717,7 +727,6 @@ void RadioComponentController::_writeCalibration(void) ...@@ -717,7 +727,6 @@ void RadioComponentController::_writeCalibration(void)
QString minTpl("RC%1_MIN"); QString minTpl("RC%1_MIN");
QString maxTpl("RC%1_MAX"); QString maxTpl("RC%1_MAX");
QString trimTpl("RC%1_TRIM"); 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 // 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++) { for (int chan = 0; chan<_chanMax(); chan++) {
...@@ -746,16 +755,13 @@ void RadioComponentController::_writeCalibration(void) ...@@ -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. // 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()) { if (_vehicle->px4Firmware() || _vehicle->multiRotor()) {
// APM multi-rotor has a backwards interpretation of "reversed" on the Pitch control. So be careful. // 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) { if (_px4Vehicle() || info->function != rcCalFunctionPitch) {
reversedParamValue = info->reversed ? -1.0f : 1.0f; reversed = info->reversed;
} else { } else {
reversedParamValue = info->reversed ? 1.0f : -1.0f; reversed = !info->reversed;
}
paramFact = getParameterFact(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel));
if (paramFact) {
paramFact->setRawValue(reversedParamValue);
} }
_setChannelReversedParamValue(chan, reversed);
} }
} }
...@@ -797,7 +803,10 @@ void RadioComponentController::_writeCalibration(void) ...@@ -797,7 +803,10 @@ void RadioComponentController::_writeCalibration(void)
/// @brief Starts the calibration process /// @brief Starts the calibration process
void RadioComponentController::_startCalibration(void) void RadioComponentController::_startCalibration(void)
{ {
Q_ASSERT(_chanCount >= _chanMinimum); if (_chanCount < _chanMinimum) {
qWarning() << "Call to RadioComponentController::_startCalibration with _chanCount < _chanMinimum";
return;
}
_resetInternalCalibrationValues(); _resetInternalCalibrationValues();
...@@ -895,7 +904,8 @@ void RadioComponentController::_setHelpImage(const char* imageFile) ...@@ -895,7 +904,8 @@ void RadioComponentController::_setHelpImage(const char* imageFile)
} else if (_transmitterMode == 2) { } else if (_transmitterMode == 2) {
file += _imageFileMode2Dir; file += _imageFileMode2Dir;
} else { } else {
Q_ASSERT(false); qWarning() << "Internal error: Bad _transmitterMode value";
return;
} }
file += imageFile; file += imageFile;
...@@ -1045,3 +1055,34 @@ int RadioComponentController::_chanMax(void) const ...@@ -1045,3 +1055,34 @@ int RadioComponentController::_chanMax(void) const
{ {
return _px4Vehicle() ? _chanMaxPX4 : _chanMaxAPM; 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 @@ ...@@ -24,6 +24,7 @@
#include "AutoPilotPlugin.h" #include "AutoPilotPlugin.h"
Q_DECLARE_LOGGING_CATEGORY(RadioComponentControllerLog) Q_DECLARE_LOGGING_CATEGORY(RadioComponentControllerLog)
Q_DECLARE_LOGGING_CATEGORY(RadioComponentControllerVerboseLog)
class RadioConfigest; class RadioConfigest;
...@@ -233,6 +234,9 @@ private: ...@@ -233,6 +234,9 @@ private:
int _chanMax(void) const; 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 // @brief Called by unit test code to set the mode to unit testing
void _setUnitTestMode(void){ _unitTestMode = true; } void _setUnitTestMode(void){ _unitTestMode = true; }
...@@ -293,6 +297,11 @@ private: ...@@ -293,6 +297,11 @@ private:
static const int _rcCalSettleDelta; static const int _rcCalSettleDelta;
static const int _rcCalMinDelta; 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 _rcValueSave[_chanMaxAny]; ///< Saved values prior to detecting channel movement
int _rcRawValue[_chanMaxAny]; ///< Current set of raw channel values int _rcRawValue[_chanMaxAny]; ///< Current set of raw channel values
......
src/FactSystem/FactControls/FactCheckBox.qml
View file @ 4dab0e1e
...@@ -11,12 +11,9 @@ QGCCheckBox { ...@@ -11,12 +11,9 @@ QGCCheckBox {
property variant checkedValue: 1 property variant checkedValue: 1
property variant uncheckedValue: 0 property variant uncheckedValue: 0
partiallyCheckedEnabled: fact ? fact.value !== checkedValue && fact.value !== uncheckedValue : false checkedState: fact ? (fact.value === checkedValue ? Qt.Checked : Qt.Unchecked) : Qt.Unchecked
checkedState: fact ? fact.value === checkedValue ? Qt.Checked : (fact.value === uncheckedValue ? Qt.Unchecked : Qt.PartiallyChecked) : false
text: qsTr("Label") text: qsTr("Label")
onClicked: { onClicked: fact.value = checked ? checkedValue : uncheckedValue
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 ...@@ -127,8 +127,9 @@ Fact* FactPanelController::getParameterFact(int componentId, const QString& name
QQmlEngine::setObjectOwnership(fact, QQmlEngine::CppOwnership); QQmlEngine::setObjectOwnership(fact, QQmlEngine::CppOwnership);
return fact; return fact;
} else { } else {
if(reportMissing) if (reportMissing) {
_reportMissingParameter(componentId, name); _reportMissingParameter(componentId, name);
}
return NULL; return NULL;
} }
} }
......
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
View file @ 4dab0e1e
...@@ -735,6 +735,9 @@ void APMFirmwarePlugin::_artooSocketError(QAbstractSocket::SocketError socketErr ...@@ -735,6 +735,9 @@ void APMFirmwarePlugin::_artooSocketError(QAbstractSocket::SocketError socketErr
QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle) QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle)
{ {
int majorVersion = vehicle->firmwareMajorVersion();
int minorVersion = vehicle->firmwareMinorVersion();
switch (vehicle->vehicleType()) { switch (vehicle->vehicleType()) {
case MAV_TYPE_QUADROTOR: case MAV_TYPE_QUADROTOR:
case MAV_TYPE_HEXAROTOR: case MAV_TYPE_HEXAROTOR:
...@@ -742,22 +745,57 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle) ...@@ -742,22 +745,57 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle)
case MAV_TYPE_TRICOPTER: case MAV_TYPE_TRICOPTER:
case MAV_TYPE_COAXIAL: case MAV_TYPE_COAXIAL:
case MAV_TYPE_HELICOPTER: 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 (majorVersion == 3) {
switch (minorVersion) {
case 3:
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml"); return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml");
} else if (vehicle->firmwareMajorVersion() == 3 && vehicle->firmwareMinorVersion() == 4) { case 4:
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.4.xml"); return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.4.xml");
} else { case 5:
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.5.xml"); 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: 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"); return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.3.xml");
} else { } 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"); 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_GROUND_ROVER:
case MAV_TYPE_SURFACE_BOAT: case MAV_TYPE_SURFACE_BOAT:
if (majorVersion < 3) {
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml"); 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: case MAV_TYPE_SUBMARINE:
return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml"); return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml");
default: 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 @@ ...@@ -43,10 +43,12 @@
<file alias="APMParameterFactMetaData.Plane.3.3.xml">APMParameterFactMetaData.Plane.3.3.xml</file> <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.3.5.xml">APMParameterFactMetaData.Plane.3.5.xml</file>
<file alias="APMParameterFactMetaData.Plane.3.7.xml">APMParameterFactMetaData.Plane.3.7.xml</file> <file alias="APMParameterFactMetaData.Plane.3.7.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.3.3.xml">APMParameterFactMetaData.Copter.3.3.xml</file>
<file alias="APMParameterFactMetaData.Copter.3.4.xml">APMParameterFactMetaData.Copter.3.4.xml</file> <file alias="APMParameterFactMetaData.Copter.3.4.xml">APMParameterFactMetaData.Copter.3.4.xml</file>
<file alias="APMParameterFactMetaData.Copter.3.5.xml">APMParameterFactMetaData.Copter.3.5.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.3.0.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="APMParameterFactMetaData.Sub.3.4.xml">APMParameterFactMetaData.Sub.3.4.xml</file>
<file alias="CopterGeoFenceEditor.qml">CopterGeoFenceEditor.qml</file> <file alias="CopterGeoFenceEditor.qml">CopterGeoFenceEditor.qml</file>
<file alias="PlaneGeoFenceEditor.qml">PlaneGeoFenceEditor.qml</file> <file alias="PlaneGeoFenceEditor.qml">PlaneGeoFenceEditor.qml</file>
......
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
View file @ 4dab0e1e
...@@ -67,36 +67,51 @@ ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(void) ...@@ -67,36 +67,51 @@ ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(void)
setSupportedModes(supportedFlightModes); setSupportedModes(supportedFlightModes);
if (!_remapParamNameIntialized) { if (!_remapParamNameIntialized) {
FirmwarePlugin::remapParamNameMap_t& remap = _remapParamName[3][4]; FirmwarePlugin::remapParamNameMap_t& remapV3_4 = _remapParamName[3][4];
remap["ATC_ANG_RLL_P"] = QStringLiteral("STB_RLL_P"); remapV3_4["ATC_ANG_RLL_P"] = QStringLiteral("STB_RLL_P");
remap["ATC_ANG_PIT_P"] = QStringLiteral("STB_PIT_P"); remapV3_4["ATC_ANG_PIT_P"] = QStringLiteral("STB_PIT_P");
remap["ATC_ANG_YAW_P"] = QStringLiteral("STB_YAW_P"); remapV3_4["ATC_ANG_YAW_P"] = QStringLiteral("STB_YAW_P");
remap["ATC_RAT_RLL_P"] = QStringLiteral("RATE_RLL_P"); remapV3_4["ATC_RAT_RLL_P"] = QStringLiteral("RATE_RLL_P");
remap["ATC_RAT_RLL_I"] = QStringLiteral("RATE_RLL_I"); remapV3_4["ATC_RAT_RLL_I"] = QStringLiteral("RATE_RLL_I");
remap["ATC_RAT_RLL_IMAX"] = QStringLiteral("RATE_RLL_IMAX"); remapV3_4["ATC_RAT_RLL_IMAX"] = QStringLiteral("RATE_RLL_IMAX");
remap["ATC_RAT_RLL_D"] = QStringLiteral("RATE_RLL_D"); remapV3_4["ATC_RAT_RLL_D"] = QStringLiteral("RATE_RLL_D");
remap["ATC_RAT_RLL_FILT"] = QStringLiteral("RATE_RLL_FILT_HZ"); remapV3_4["ATC_RAT_RLL_FILT"] = QStringLiteral("RATE_RLL_FILT_HZ");
remap["ATC_RAT_PIT_P"] = QStringLiteral("RATE_PIT_P"); remapV3_4["ATC_RAT_PIT_P"] = QStringLiteral("RATE_PIT_P");
remap["ATC_RAT_PIT_I"] = QStringLiteral("RATE_PIT_I"); remapV3_4["ATC_RAT_PIT_I"] = QStringLiteral("RATE_PIT_I");
remap["ATC_RAT_PIT_IMAX"] = QStringLiteral("RATE_PIT_IMAX"); remapV3_4["ATC_RAT_PIT_IMAX"] = QStringLiteral("RATE_PIT_IMAX");
remap["ATC_RAT_PIT_D"] = QStringLiteral("RATE_PIT_D"); remapV3_4["ATC_RAT_PIT_D"] = QStringLiteral("RATE_PIT_D");
remap["ATC_RAT_PIT_FILT"] = QStringLiteral("RATE_PIT_FILT_HZ"); remapV3_4["ATC_RAT_PIT_FILT"] = QStringLiteral("RATE_PIT_FILT_HZ");
remap["ATC_RAT_YAW_P"] = QStringLiteral("RATE_YAW_P"); remapV3_4["ATC_RAT_YAW_P"] = QStringLiteral("RATE_YAW_P");
remap["ATC_RAT_YAW_I"] = QStringLiteral("RATE_YAW_I"); remapV3_4["ATC_RAT_YAW_I"] = QStringLiteral("RATE_YAW_I");
remap["ATC_RAT_YAW_IMAX"] = QStringLiteral("RATE_YAW_IMAX"); remapV3_4["ATC_RAT_YAW_IMAX"] = QStringLiteral("RATE_YAW_IMAX");
remap["ATC_RAT_YAW_D"] = QStringLiteral("RATE_YAW_D"); remapV3_4["ATC_RAT_YAW_D"] = QStringLiteral("RATE_YAW_D");
remap["ATC_RAT_YAW_FILT"] = QStringLiteral("RATE_YAW_FILT_HZ"); 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 int ArduCopterFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const
{ {
// Remapping supports up to 3.4 // Remapping supports up to 3.5
return majorVersionNumber == 3 ? 4: Vehicle::versionNotSetValue; return majorVersionNumber == 3 ? 5 : Vehicle::versionNotSetValue;
} }
bool ArduCopterFirmwarePlugin::isCapable(const Vehicle* vehicle, FirmwareCapabilities capabilities) bool ArduCopterFirmwarePlugin::isCapable(const Vehicle* vehicle, FirmwareCapabilities capabilities)
......
src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
View file @ 4dab0e1e
...@@ -7,12 +7,11 @@ ...@@ -7,12 +7,11 @@
* *
****************************************************************************/ ****************************************************************************/
/// @file
/// @author Pritam Ghanghas <pritam.ghanghas@gmail.com>
#include "ArduPlaneFirmwarePlugin.h" #include "ArduPlaneFirmwarePlugin.h"
bool ArduPlaneFirmwarePlugin::_remapParamNameIntialized = false;
FirmwarePlugin::remapParamNameMajorVersionMap_t ArduPlaneFirmwarePlugin::_remapParamName;
APMPlaneMode::APMPlaneMode(uint32_t mode, bool settable) APMPlaneMode::APMPlaneMode(uint32_t mode, bool settable)
: APMCustomMode(mode, settable) : APMCustomMode(mode, settable)
{ {
...@@ -63,6 +62,29 @@ ArduPlaneFirmwarePlugin::ArduPlaneFirmwarePlugin(void) ...@@ -63,6 +62,29 @@ ArduPlaneFirmwarePlugin::ArduPlaneFirmwarePlugin(void)
supportedFlightModes << APMPlaneMode(APMPlaneMode::QLAND ,true); supportedFlightModes << APMPlaneMode(APMPlaneMode::QLAND ,true);
supportedFlightModes << APMPlaneMode(APMPlaneMode::QRTL ,true); supportedFlightModes << APMPlaneMode(APMPlaneMode::QRTL ,true);
setSupportedModes(supportedFlightModes); 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) QString ArduPlaneFirmwarePlugin::takeControlFlightMode(void)
......
src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
View file @ 4dab0e1e
...@@ -58,6 +58,12 @@ public: ...@@ -58,6 +58,12 @@ public:
// Overrides from FirmwarePlugin // Overrides from FirmwarePlugin
QString offlineEditingParamFile(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Plane.OfflineEditing.params"); } QString offlineEditingParamFile(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Plane.OfflineEditing.params"); }
QString takeControlFlightMode(void) final; 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 #endif
src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc
View file @ 4dab0e1e
...@@ -7,12 +7,11 @@ ...@@ -7,12 +7,11 @@
* *
****************************************************************************/ ****************************************************************************/
/// @file
/// @author Pritam Ghanghas <pritam.ghanghas@gmail.com>
#include "ArduRoverFirmwarePlugin.h" #include "ArduRoverFirmwarePlugin.h"
bool ArduRoverFirmwarePlugin::_remapParamNameIntialized = false;
FirmwarePlugin::remapParamNameMajorVersionMap_t ArduRoverFirmwarePlugin::_remapParamName;
APMRoverMode::APMRoverMode(uint32_t mode, bool settable) APMRoverMode::APMRoverMode(uint32_t mode, bool settable)
: APMCustomMode(mode, settable) : APMCustomMode(mode, settable)
{ {
...@@ -41,4 +40,28 @@ ArduRoverFirmwarePlugin::ArduRoverFirmwarePlugin(void) ...@@ -41,4 +40,28 @@ ArduRoverFirmwarePlugin::ArduRoverFirmwarePlugin(void)
supportedFlightModes << APMRoverMode(APMRoverMode::GUIDED ,true); supportedFlightModes << APMRoverMode(APMRoverMode::GUIDED ,true);
supportedFlightModes << APMRoverMode(APMRoverMode::INITIALIZING ,false); supportedFlightModes << APMRoverMode(APMRoverMode::INITIALIZING ,false);
setSupportedModes(supportedFlightModes); 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 ...@@ -49,6 +49,14 @@ class ArduRoverFirmwarePlugin : public APMFirmwarePlugin
public: public:
ArduRoverFirmwarePlugin(void); 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 #endif
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