ChangeLog.md

@@ -6,6 +6,7 @@ Note: This file only contains high level features or important fixes.
 
 ### 3.6.0 - Daily Build
 
+* ArduPilot: Rework Airframe setup ui
 * Plan/Pattern: Support named presets to simplify commonly used settings setup. Currently only supported by Survey.
 * ArduCopter: Handle 3.7 parameter name change from CH#_OPT to RC#_OPTION.
 * Improved support for flashing/connecting to ChibiOS bootloaders boards.

qgroundcontrol.pro

@@ -984,9 +984,7 @@ APMFirmwarePlugin {
 
     HEADERS += \
         src/AutoPilotPlugins/APM/APMAirframeComponent.h \
-        src/AutoPilotPlugins/APM/APMAirframeComponentAirframes.h \
         src/AutoPilotPlugins/APM/APMAirframeComponentController.h \
-        src/AutoPilotPlugins/APM/APMAirframeLoader.h \
         src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h \
         src/AutoPilotPlugins/APM/APMCameraComponent.h \
         src/AutoPilotPlugins/APM/APMCompassCal.h \
@@ -1011,9 +1009,7 @@ APMFirmwarePlugin {
 
     SOURCES += \
         src/AutoPilotPlugins/APM/APMAirframeComponent.cc \
-        src/AutoPilotPlugins/APM/APMAirframeComponentAirframes.cc \
         src/AutoPilotPlugins/APM/APMAirframeComponentController.cc \
-        src/AutoPilotPlugins/APM/APMAirframeLoader.cc \
         src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc \
         src/AutoPilotPlugins/APM/APMCameraComponent.cc \
         src/AutoPilotPlugins/APM/APMCompassCal.cc \

src/AutoPilotPlugins/APM/APMAirframeComponent.qml

@@ -22,90 +22,155 @@ import QGroundControl.ScreenTools   1.0
 
 SetupPage {
     id:             airframePage
-    pageComponent:  _useOldFrameParam ?  oldFramePageComponent: newFramePageComponent
-
-    property real _margins:             ScreenTools.defaultFontPixelWidth
-    property bool _useOldFrameParam:    controller.parameterExists(-1, "FRAME")
-    property Fact _oldFrameParam:       controller.getParameterFact(-1, "FRAME", false)
-    property Fact _newFrameParam:       controller.getParameterFact(-1, "FRAME_CLASS", false)
-    property Fact _frameTypeParam:      controller.getParameterFact(-1, "FRAME_TYPE", false)
-
-
-    APMAirframeComponentController {
-        id:         controller
-        factPanel:  airframePage.viewPanel
-    }
-
-    ExclusiveGroup {
-        id: airframeTypeExclusive
-    }
+    pageComponent:  pageComponent
 
     Component {
-        id: oldFramePageComponent
-
-        Column {
-            width:      availableWidth
-            height:     1000
-            spacing:    _margins
-
-            RowLayout {
-                anchors.left:   parent.left
-                anchors.right:  parent.right
-                spacing:        _margins
-
-                QGCLabel {
-                    font.pointSize:     ScreenTools.mediumFontPointSize
-                    wrapMode:           Text.WordWrap
-                    text:               qsTr("Please select your airframe type")
-                    Layout.fillWidth:   true
+        id: pageComponent
+
+        ColumnLayout {
+            id:     mainColumn
+            width:  availableWidth
+
+            property real _minW:        ScreenTools.defaultFontPixelWidth * 20
+            property real _boxWidth:    _minW
+            property real _boxSpace:    ScreenTools.defaultFontPixelWidth
+            property real _margins:     ScreenTools.defaultFontPixelWidth
+            property Fact _frameClass:  controller.getParameterFact(-1, "FRAME_CLASS")
+            property Fact _frameType:   controller.getParameterFact(-1, "FRAME_TYPE")
+
+            readonly property real spacerHeight: ScreenTools.defaultFontPixelHeight
+
+            onWidthChanged:         computeDimensions()
+            Component.onCompleted:  computeDimensions()
+
+            function computeDimensions() {
+                var sw  = 0
+                var rw  = 0
+                var idx = Math.floor(mainColumn.width / (_minW + ScreenTools.defaultFontPixelWidth))
+                if(idx < 1) {
+                    _boxWidth = mainColumn.width
+                    _boxSpace = 0
+                } else {
+                    _boxSpace = 0
+                    if(idx > 1) {
+                        _boxSpace = ScreenTools.defaultFontPixelWidth
+                        sw = _boxSpace * (idx - 1)
+                    }
+                    rw = mainColumn.width - sw
+                    _boxWidth = rw / idx
                 }
             }
 
-            Repeater {
-                model: controller.airframeTypesModel
+            APMAirframeComponentController {
+                id:         controller
+                factPanel:  airframePage.viewPanel
+            }
 
-                QGCRadioButton {
-                    text: object.name
-                    checked: controller.currentAirframeType == object
-                    exclusiveGroup: airframeTypeExclusive
+            QGCLabel {
+                id:                 helpText
+                Layout.fillWidth:   true
+                text:               (_frameClass.rawValue === 0 ?
+                                         qsTr("Airframe is currently not set.") :
+                                         qsTr("Currently set to frame class '%1' and frame type '%2'.").arg(_frameClass.enumStringValue).arg(_frameType.enumStringValue)) +
+                                    qsTr(" To change this configuration, select the desired frame class below and frame type.")
+                font.family:        ScreenTools.demiboldFontFamily
+                wrapMode:           Text.WordWrap
+            }
 
-                    onCheckedChanged: {
-                        if (checked) {
-                            controller.currentAirframeType = object
-                        }
-                    }
-                }
+            Item {
+                id:             lastSpacer
+                height:         parent.spacerHeight
+                width:          10
             }
-        } // Column
-    } // Component - oldFramePageComponent
 
-    Component {
-        id: newFramePageComponent
+            Flow {
+                id:                 flowView
+                Layout.fillWidth:   true
+                spacing:            _boxSpace
 
-        Grid {
-            width:      availableWidth
-            spacing:    _margins
-            columns:    2
+                ExclusiveGroup {
+                    id: airframeTypeExclusive
+                }
 
-            QGCLabel {
-                text: qsTr("Frame Class:")
-            }
+                Repeater {
+                    model: controller.frameClassModel
 
-            FactComboBox {
-                fact:       _newFrameParam
-                indexModel: false
-                width:      ScreenTools.defaultFontPixelWidth * 15
-            }
+                    // Outer summary item rectangle
+                    Rectangle {
+                        id:     outerRect
+                        width:  _boxWidth
+                        height: ScreenTools.defaultFontPixelHeight * 14
+                        color:  qgcPal.window
 
-            QGCLabel {
-                text: qsTr("Frame Type:")
-            }
+                        readonly property real titleHeight: ScreenTools.defaultFontPixelHeight * 1.75
+                        readonly property real innerMargin: ScreenTools.defaultFontPixelWidth
 
-            FactComboBox {
-                fact:       _frameTypeParam
-                indexModel: false
-                width:      ScreenTools.defaultFontPixelWidth * 15
-            }
-        }
-    }
+                        MouseArea {
+                            anchors.fill:   parent
+                            onClicked:      airframeCheckBox.checked = true
+                        }
+
+                        QGCLabel {
+                            id:     title
+                            text:   object.name
+                        }
+
+                        Rectangle {
+                            anchors.topMargin:  ScreenTools.defaultFontPixelHeight / 2
+                            anchors.top:        title.bottom
+                            anchors.bottom:     parent.bottom
+                            anchors.left:       parent.left
+                            anchors.right:      parent.right
+                            color:              airframeCheckBox.checked ? qgcPal.buttonHighlight : qgcPal.windowShade
+
+                            ColumnLayout {
+                                anchors.margins:    innerMargin
+                                anchors.fill:       parent
+                                spacing:            innerMargin
+
+                                Image {
+                                    id:                 image
+                                    Layout.fillWidth:   true
+                                    Layout.fillHeight:  true
+                                    fillMode:           Image.PreserveAspectFit
+                                    smooth:             true
+                                    mipmap:             true
+                                    source:             object.imageResource
+                                }
+
+                                QGCCheckBox {
+                                    // Although this item is invisible we still use it to manage state
+                                    id:             airframeCheckBox
+                                    checked:        object.frameClass === _frameClass.rawValue
+                                    exclusiveGroup: airframeTypeExclusive
+                                    visible:        false
+
+                                    onCheckedChanged: {
+                                        if (checked) {
+                                            _frameClass.rawValue = object.frameClass
+                                        }
+                                    }
+                                }
+
+                                QGCLabel {
+                                    text:           qsTr("Frame Type")
+                                    font.pointSize: ScreenTools.smallFontPointSize
+                                    color:          qgcPal.buttonHighlightText
+                                    visible:        airframeCheckBox.checked && object.frameTypeSupported
+                                }
+
+                                FactComboBox {
+                                    id:                 combo
+                                    Layout.fillWidth:   true
+                                    fact:               _frameType
+                                    indexModel:         false
+                                    visible:            airframeCheckBox.checked && object.frameTypeSupported
+                                }
+                            }
+                        }
+                    }
+                } // Repeater - summary boxes
+            } // Flow - summary boxes
+        } // Column
+    } // Component
 } // SetupPage

src/AutoPilotPlugins/APM/APMAirframeComponentAirframes.cc

-/****************************************************************************
- *
- *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- *
- * QGroundControl is licensed according to the terms in the file
- * COPYING.md in the root of the source code directory.
- *
- ****************************************************************************/
-
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
-#include "APMAirframeComponentAirframes.h"
-#include "APMAirframeComponentController.h"
-
-QMap<QString, APMAirframeComponentAirframes::AirframeType_t*> APMAirframeComponentAirframes::rgAirframeTypes;
-
-QMap<QString, APMAirframeComponentAirframes::AirframeType_t*>& APMAirframeComponentAirframes::get() {
-    return rgAirframeTypes;
-}
-
-void APMAirframeComponentAirframes::insert(const QString& group, int groupId, const QString& image,const QString& name, const QString& file)
-{
-    AirframeType_t *g;
-    if (!rgAirframeTypes.contains(group)) {
-        g = new AirframeType_t;
-        g->name = group;
-        g->type = groupId;
-        g->imageResource = image.isEmpty() ? QString() : QStringLiteral("qrc:/qmlimages/") + image;
-        rgAirframeTypes.insert(group, g);
-    } else {
-        g = rgAirframeTypes.value(group);
-    }
-
-    if (!name.isEmpty() && !file.isEmpty())
-        g->rgAirframeInfo.append(new APMAirframe(name, file, g->type));
-}
-
-void APMAirframeComponentAirframes::clear() {
-    QList<AirframeType_t*> valueList = get().values();
-    foreach(AirframeType_t *pType, valueList) {
-        qDeleteAll(pType->rgAirframeInfo);
-        delete pType;
-    }
-    rgAirframeTypes.clear();
-}

src/AutoPilotPlugins/APM/APMAirframeComponentAirframes.h

-/****************************************************************************
- *
- *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- *
- * QGroundControl is licensed according to the terms in the file
- * COPYING.md in the root of the source code directory.
- *
- ****************************************************************************/
-
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
-#ifndef APMAirframeComponentAirframes_H
-#define APMAirframeComponentAirframes_H
-
-#include <QObject>
-#include <QQuickItem>
-#include <QList>
-#include <QMap>
-
-#include "UASInterface.h"
-#include "AutoPilotPlugin.h"
-
-class APMAirframe;
-
-/// MVC Controller for AirframeComponent.qml.
-class APMAirframeComponentAirframes
-{
-public:
-    typedef struct {
-        QString name;
-        QString imageResource;
-        int type;
-        QList<APMAirframe*> rgAirframeInfo;
-    } AirframeType_t;
-    typedef QMap<QString, AirframeType_t*> AirframeTypeMap;
-
-    static AirframeTypeMap& get();
-    static void clear();
-    static void insert(const QString& group, int groupId, const QString& image,const QString& name = QString(), const QString& file = QString());
-    
-protected:
-    static AirframeTypeMap rgAirframeTypes;
-    
-private:
-};
-
-#endif

src/AutoPilotPlugins/APM/APMAirframeComponentController.cc

@@ -7,12 +7,7 @@
  *
  ****************************************************************************/
 
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
 #include "APMAirframeComponentController.h"
-#include "APMAirframeComponentAirframes.h"
 #include "QGCMAVLink.h"
 #include "MultiVehicleManager.h"
 #include "QGCApplication.h"
@@ -26,71 +21,113 @@
 #include <QJsonParseError>
 #include <QJsonObject>
 
-bool APMAirframeComponentController::_typesRegistered = false;
-
-const char* APMAirframeComponentController::_oldFrameParam = "FRAME";
-const char* APMAirframeComponentController::_newFrameParam = "FRAME_CLASS";
 
-APMAirframeComponentController::APMAirframeComponentController(void) :
-    _airframeTypesModel(new QmlObjectListModel(this))
-{
-    if (!_typesRegistered) {
-        _typesRegistered = true;
-        qmlRegisterUncreatableType<APMAirframeType>("QGroundControl.Controllers", 1, 0, "APMAirframeType", QStringLiteral("Can only reference APMAirframeType"));
-    }
-    _fillAirFrames();
-
-    Fact* frame = NULL;
-    if (parameterExists(FactSystem::defaultComponentId, _oldFrameParam)) {
-        frame = getParameterFact(FactSystem::defaultComponentId, _oldFrameParam);
-    } else if (parameterExists(FactSystem::defaultComponentId, _newFrameParam)){
-        frame = getParameterFact(FactSystem::defaultComponentId, _newFrameParam);
+// These should match the FRAME_CLASS parameter enum meta data
+#define FRAME_CLASS_UNDEFINED       0
+#define FRAME_CLASS_QUAD            1
+#define FRAME_CLASS_HEX             2
+#define FRAME_CLASS_OCTA            3
+#define FRAME_CLASS_OCTAQUAD        4
+#define FRAME_CLASS_Y6              5
+#define FRAME_CLASS_HELI            6
+#define FRAME_CLASS_TRI             7
+#define FRAME_CLASS_SINGLECOPTER    8
+#define FRAME_CLASS_COAXCOPTER      9
+#define FRAME_CLASS_BICOPTER        10
+#define FRAME_CLASS_HELI_DUAL       11
+#define FRAME_CLASS_DODECAHEXA      12
+#define FRAME_CLASS_HELIQUAD        13
+
+// These should match the FRAME_TYPE parameter enum meta data
+#define FRAME_TYPE_PLUS         0
+#define FRAME_TYPE_X            1
+#define FRAME_TYPE_V            2
+#define FRAME_TYPE_H            3
+#define FRAME_TYPE_V_TAIL       4
+#define FRAME_TYPE_A_TAIL       5
+#define FRAME_TYPE_Y6B          10
+#define FRAME_TYPE_Y6F          11
+#define FRAME_TYPE_BETAFLIGHTX  12
+#define FRAME_TYPE_DJIX         13
+#define FRAME_TYPE_CLOCKWISEX   14
+
+typedef struct {
+    int         frameClass;
+    int         frameType;
+    const char* imageResource;
+} FrameToImageInfo_t;
+
+static const FrameToImageInfo_t s_rgFrameToImage[] = {
+    { FRAME_CLASS_QUAD,     FRAME_TYPE_PLUS,    "QuadRotorPlus" },
+    { FRAME_CLASS_QUAD,     FRAME_TYPE_X,       "QuadRotorX" },
+    { FRAME_CLASS_QUAD,     FRAME_TYPE_V,       "QuadRotorWide" },
+    { FRAME_CLASS_QUAD,     FRAME_TYPE_H,       "QuadRotorH" },
+    { FRAME_CLASS_QUAD,     FRAME_TYPE_V_TAIL,  "QuadRotorVTail" },
+    { FRAME_CLASS_QUAD,     FRAME_TYPE_A_TAIL,  "QuadRotorATail" },
+    { FRAME_CLASS_HEX,      FRAME_TYPE_PLUS,    "HexaRotorPlus" },
+    { FRAME_CLASS_HEX,      FRAME_TYPE_X,       "HexaRotorX" },
+    { FRAME_CLASS_OCTA,     FRAME_TYPE_PLUS,    "OctoRotorPlus" },
+    { FRAME_CLASS_OCTA,     FRAME_TYPE_X,       "OctoRotorX" },
+    { FRAME_CLASS_OCTAQUAD, FRAME_TYPE_PLUS,    "OctoRotorPlusCoaxial" },
+    { FRAME_CLASS_OCTAQUAD, FRAME_TYPE_X,       "OctoRotorXCoaxial" },
+    { FRAME_CLASS_Y6,       FRAME_TYPE_Y6B,     "Y6B" },
+    { FRAME_CLASS_Y6,       FRAME_TYPE_Y6F,     "AirframeUnknown" },
+    { FRAME_CLASS_Y6,       -1,                 "Y6A" },
+    { FRAME_CLASS_HELI,     -1,                 "Helicopter" },
+    { FRAME_CLASS_TRI,      -1,                 "YPlus" },
+};
+
+static QString s_findImageResource(int frameClass, int frameType)
+{
+    for (size_t i=0; i<sizeof(s_rgFrameToImage)/sizeof(s_rgFrameToImage[0]); i++) {
+        const FrameToImageInfo_t* pFrameToImageInfo = &s_rgFrameToImage[i];
+
+        if (pFrameToImageInfo->frameClass == frameClass && pFrameToImageInfo->frameType == frameType) {
+            return pFrameToImageInfo->imageResource;
+        } else if (pFrameToImageInfo->frameClass == frameClass && pFrameToImageInfo->frameType == -1) {
+            return pFrameToImageInfo->imageResource;
+        }
     }
 
-    if (frame) {
-        connect(frame, &Fact::rawValueChanged, this, &APMAirframeComponentController::_factFrameChanged);
-        _factFrameChanged(frame->rawValue());
-    }
+    return QStringLiteral("AirframeUnknown");
 }
 
-APMAirframeComponentController::~APMAirframeComponentController()
+APMAirframeComponentController::APMAirframeComponentController(void)
+    : _frameClassFact   (getParameterFact(FactSystem::defaultComponentId, QStringLiteral("FRAME_CLASS")))
+    , _frameTypeFact    (getParameterFact(FactSystem::defaultComponentId, QStringLiteral("FRAME_TYPE")))
+    , _frameClassModel  (new QmlObjectListModel(this))
 {
-
+    _fillFrameClasses();
 }
 
-void APMAirframeComponentController::_factFrameChanged(QVariant value)
+APMAirframeComponentController::~APMAirframeComponentController()
 {
-    FrameId v = (FrameId) value.toInt();
-
-    for(int i = 0, size = _airframeTypesModel->count(); i < size; i++ ) {
-        APMAirframeType *airframeType = qobject_cast<APMAirframeType*>(_airframeTypesModel->get(i));
-        Q_ASSERT(airframeType);
-        if (airframeType->type() == v) {
-            _currentAirframeType = airframeType;
-            break;
-        }
-    }
-    emit currentAirframeTypeChanged(_currentAirframeType);
+
 }
 
-void APMAirframeComponentController::_fillAirFrames()
+void APMAirframeComponentController::_fillFrameClasses()
 {
-    for (int tindex = 0; tindex < APMAirframeComponentAirframes::get().count(); tindex++) {
-        const APMAirframeComponentAirframes::AirframeType_t* pType = APMAirframeComponentAirframes::get().values().at(tindex);
+    QList<int> frameTypeNotSupported;
 
-        APMAirframeType* airframeType = new APMAirframeType(pType->name, pType->imageResource, pType->type, this);
-        Q_CHECK_PTR(airframeType);
+    frameTypeNotSupported << FRAME_CLASS_HELI
+                          << FRAME_CLASS_SINGLECOPTER
+                          << FRAME_CLASS_COAXCOPTER
+                          << FRAME_CLASS_BICOPTER
+                          << FRAME_CLASS_HELI_DUAL
+                          << FRAME_CLASS_HELIQUAD;
 
-        for (int index = 0; index < pType->rgAirframeInfo.count(); index++) {
-            const APMAirframe* pInfo = pType->rgAirframeInfo.at(index);
-            Q_CHECK_PTR(pInfo);
+    for (int i=1; i<_frameClassFact->enumStrings().count(); i++) {
+        QString frameClassName =    _frameClassFact->enumStrings()[i];
+        int     frameClass =        _frameClassFact->enumValues()[i].toInt();
+        int     defaultFrameType;
 
-            airframeType->addAirframe(pInfo->name(), pInfo->params(), pInfo->type());
+        if (frameTypeNotSupported.contains(frameClass)) {
+            defaultFrameType = -1;
+        } else {
+            defaultFrameType = FRAME_TYPE_X;
         }
-        _airframeTypesModel->append(airframeType);
+        _frameClassModel->append(new APMFrameClass(frameClassName, frameClass, _frameTypeFact, defaultFrameType, _frameClassModel));
     }
-
-    emit loadAirframesCompleted();
 }
 
 void APMAirframeComponentController::_loadParametersFromDownloadFile(const QString& downloadedParamFile)
@@ -120,86 +157,6 @@ void APMAirframeComponentController::_loadParametersFromDownloadFile(const QStri
     _vehicle->parameterManager()->refreshAllParameters();
 }
 
-APMAirframeType::APMAirframeType(const QString& name, const QString& imageResource, int type, QObject* parent) :
-    QObject(parent),
-    _name(name),
-    _imageResource(imageResource),
-    _type(type),
-    _dirty(false)
-{
-}
-
-APMAirframeType::~APMAirframeType()
-{
-}
-
-void APMAirframeType::addAirframe(const QString& name, const QString& file, int type)
-{
-    APMAirframe* airframe = new APMAirframe(name, file, type);
-    Q_CHECK_PTR(airframe);
-    
-    _airframes.append(QVariant::fromValue(airframe));
-}
-
-APMAirframe::APMAirframe(const QString& name, const QString& paramsFile, int type, QObject* parent) :
-    QObject(parent),
-    _name(name),
-    _paramsFile(paramsFile),
-    _type(type)
-{
-}
-
-QString APMAirframe::name() const
-{
-    return _name;
-}
-
-QString APMAirframe::params() const
-{
-    return _paramsFile;
-}
-
-int APMAirframe::type() const
-{
-    return _type;
-}
-
-APMAirframe::~APMAirframe()
-{
-}
-
-QString APMAirframeType::imageResource() const
-{
-    return _imageResource;
-}
-
-QString APMAirframeType::name() const
-{
-    return _name;
-}
-
-int APMAirframeType::type() const
-{
-    return _type;
-}
-
-APMAirframeType *APMAirframeComponentController::currentAirframeType() const
-{
-    return _currentAirframeType;
-}
-
-QString APMAirframeComponentController::currentAirframeTypeName() const
-{
-    return _vehicle->vehicleTypeName();
-}
-
-void APMAirframeComponentController::setCurrentAirframeType(APMAirframeType *t)
-{
-    Fact *param = getParameterFact(-1, QStringLiteral("FRAME"));
-    Q_ASSERT(param);
-    param->setRawValue(t->type());
-}
-
 void APMAirframeComponentController::loadParameters(const QString& paramFile)
 {
     qgcApp()->setOverrideCursor(Qt::WaitCursor);
@@ -258,3 +215,25 @@ void APMAirframeComponentController::_paramFileDownloadError(QString errorMsg)
     qgcApp()->showMessage(tr("Param file download failed: %1").arg(errorMsg));
     qgcApp()->restoreOverrideCursor();
 }
+
+APMFrameClass::APMFrameClass(const QString& name, int frameClass, Fact* frameTypeFact, int defaultFrameType, QObject* parent)
+    : QObject               (parent)
+    , _name                 (name)
+    , _frameClass           (frameClass)
+    , _defaultFrameType     (defaultFrameType)
+    , _frameTypeSupported   (defaultFrameType != -1)
+    , _frameTypeFact        (frameTypeFact)
+{
+    connect(frameTypeFact, &Fact::rawValueChanged, this, &APMFrameClass::imageResourceChanged);
+    connect(frameTypeFact, &Fact::rawValueChanged, this, &APMFrameClass::frameTypeChanged);
+}
+
+APMFrameClass::~APMFrameClass()
+{
+
+}
+
+QString APMFrameClass::imageResource(void)
+{
+    return QStringLiteral("/qmlimages/Airframe/%1").arg(s_findImageResource(_frameClass, _frameTypeFact->rawValue().toInt()));
+}

src/AutoPilotPlugins/APM/APMAirframeComponentController.h

@@ -7,12 +7,7 @@
  *
  ****************************************************************************/
 
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
-#ifndef APMAirframeComponentController_H
-#define APMAirframeComponentController_H
+#pragma once
 
 #include <QObject>
 #include <QQuickItem>
@@ -22,7 +17,6 @@
 #include "UASInterface.h"
 #include "AutoPilotPlugin.h"
 #include "FactPanelController.h"
-#include "APMAirframeComponentAirframes.h"
 
 class APMAirframeModel;
 class APMAirframeType;
@@ -33,98 +27,56 @@ class APMAirframeComponentController : public FactPanelController
     Q_OBJECT
     
 public:
-    enum FrameId{FRAME_TYPE_PLUS = 0,
-                 FRAME_TYPE_X = 1,
-                 FRAME_TYPE_V = 2,
-                 FRAME_TYPE_H = 3,
-                 FRAME_TYPE_NEWY6 = 10};
-    Q_ENUM(FrameId)
-
     APMAirframeComponentController(void);
     ~APMAirframeComponentController();
     
-    Q_PROPERTY(QmlObjectListModel* airframeTypesModel MEMBER _airframeTypesModel CONSTANT)
-    Q_PROPERTY(APMAirframeType* currentAirframeType READ currentAirframeType WRITE setCurrentAirframeType NOTIFY currentAirframeTypeChanged)
+    Q_PROPERTY(QmlObjectListModel*  frameClassModel     MEMBER _frameClassModel CONSTANT)
 
     Q_INVOKABLE void loadParameters(const QString& paramFile);
 
-    int currentAirframeIndex(void);
-    void setCurrentAirframeIndex(int newIndex);
-    
-signals:
-    void loadAirframesCompleted();
-    void currentAirframeTypeChanged(APMAirframeType* airframeType);
-
-public slots:
-    APMAirframeType *currentAirframeType() const;
-    Q_INVOKABLE QString currentAirframeTypeName() const;
-    void setCurrentAirframeType(APMAirframeType *t);
-
 private slots:
-    void _fillAirFrames(void);
-    void _factFrameChanged(QVariant v);
     void _githubJsonDownloadFinished(QString remoteFile, QString localFile);
     void _githubJsonDownloadError(QString errorMsg);
     void _paramFileDownloadFinished(QString remoteFile, QString localFile);
     void _paramFileDownloadError(QString errorMsg);
 
 private:
+    void _fillFrameClasses(void);
     void _loadParametersFromDownloadFile(const QString& downloadedParamFile);
 
-    APMAirframeType *_currentAirframeType;
-    QmlObjectListModel *_airframeTypesModel;
-
-    static bool _typesRegistered;
-    static const char* _oldFrameParam;
-    static const char* _newFrameParam;
+    Fact*               _frameClassFact;
+    Fact*               _frameTypeFact;
+    QmlObjectListModel* _frameClassModel;
 };
 
-class APMAirframe : public QObject
+class APMFrameClass : public QObject
 {
     Q_OBJECT
     
 public:
-    APMAirframe(const QString& name, const QString& paramsFile, int type, QObject* parent = NULL);
-    ~APMAirframe();
+    APMFrameClass(const QString& name, int frameClass, Fact* frameTypeFact, int defaultFrameType, QObject* parent = nullptr);
+    ~APMFrameClass();
     
-    Q_PROPERTY(QString name MEMBER _name CONSTANT)
-    Q_PROPERTY(int type MEMBER _type CONSTANT)
-    Q_PROPERTY(QString params MEMBER _paramsFile CONSTANT)
-    
-    QString name() const;
-    QString params() const;
-    int type() const;
+    Q_PROPERTY(QString      name                MEMBER _name                CONSTANT)
+    Q_PROPERTY(int          frameClass          MEMBER _frameClass          CONSTANT)
+    Q_PROPERTY(int          frameType           READ frameType              NOTIFY frameTypeChanged)
+    Q_PROPERTY(int          defaultFrameType    MEMBER _defaultFrameType    CONSTANT)
+    Q_PROPERTY(QString      imageResource       READ imageResource          NOTIFY imageResourceChanged)
+    Q_PROPERTY(bool         frameTypeSupported  MEMBER _frameTypeSupported  CONSTANT)
+
+    int     frameType       (void) { return _frameTypeFact->rawValue().toInt(); };
+    QString imageResource   (void);
 
-private:
     QString _name;
-    QString _paramsFile;
-    int _type;
-};
+    QString _imageResource;
+    int     _frameClass;
+    int     _defaultFrameType;
+    bool    _frameTypeSupported;
 
-class APMAirframeType : public QObject
-{
-    Q_OBJECT
-    
-public:
-    APMAirframeType(const QString& name, const QString& imageResource, int type, QObject* parent = NULL);
-    ~APMAirframeType();
-    
-    Q_PROPERTY(QString name MEMBER _name CONSTANT)
-    Q_PROPERTY(QString imageResource MEMBER _imageResource CONSTANT)
-    Q_PROPERTY(QVariantList airframes MEMBER _airframes CONSTANT)
-    Q_PROPERTY(int type MEMBER _type CONSTANT)
-    Q_PROPERTY(bool dirty MEMBER _dirty CONSTANT)
-    void addAirframe(const QString& name, const QString& paramsFile, int type);
+signals:
+    void imageResourceChanged(void);
+    void frameTypeChanged();
 
-    QString name() const;
-    QString imageResource() const;
-    int type() const;
 private:
-    QString         _name;
-    QString         _imageResource;
-    QVariantList    _airframes;
-    int _type;
-    bool _dirty;
+    Fact* _frameTypeFact;
 };
-
-#endif

src/AutoPilotPlugins/APM/APMAirframeFactMetaData.xml

-<?xml version='1.0' encoding='UTF-8'?>
-<airframes>
-  <version>1</version>
-  <airframe_group image="AirframeQuadRotorPlus.png" name="Plus Style: Quad, Hexa, Octo, Heli" id="0">
-      <airframe name="3DR Aero M" file="3DR_AERO_M.param"/>
-      <airframe name="3DR Aero RTF" file="3DR_Aero_RTF.param"/>
-      <airframe name="3DR Rover" file="3DR_Rover.param"/>
-      <airframe name="3DR Tarot" file="3DR_Tarot.bgsc"/>
-      <airframe name="Parrot Bebop" file="Parrot_Bebop.param"/>
-      <airframe name="Storm32" file="SToRM32-MAVLink.param"/>
-  </airframe_group>
-  <airframe_group image="AirframeQuadRotorX.png" name="X Style, Y6A Style: Quad, Hexa, Octo, X8, Tri, Y6A" id="1">
-      <airframe name="3DR X8-M RTF" file="3DR_X8-M_RTF.param"/>
-      <airframe name="3DR Y6A" file="3DR_Y6A_RTF.param"/>
-      <airframe name="3DR X8+ RTF" file="3DR_X8+_RTF.param"/>
-      <airframe name="3DR QUAD X4 RTF" file="3DR_QUAD_X4_RTF.param"/>
-      <airframe name="3DR X8" file="3DR_X8_RTF.param"/>
-  </airframe_group>
-  <airframe_group image="AirframeQuadRotorH.png" name="V (3DR Iris)" id="2">
-      <airframe name="Iris with GoPro" file="Iris with Front Mount Go Pro.param"/>
-      <airframe name="Iris with Tarot" file="Iris with Tarot Gimbal.param"/>
-      <airframe name="3DR Iris+" file="3DR_Iris+.param"/>
-      <airframe name="Iris" file="Iris.param"/>
-  </airframe_group>
-  <airframe_group image="AirframeQuadRotorH.png" name="V Tail" id="4">
-  </airframe_group>
-  <airframe_group image="AirframeQuadRotorH.png" name="A Tail" id="5">
-  </airframe_group>
-  <airframe_group name="H: X and H differ in prop rotation" id="3">
-  </airframe_group>
-  <airframe_group name="Y6B Frame (3DR TriCopter): Y6B and Y6A differ in prop rotation" id="10">
-      <airframe name="3DR Y6B" file="3DR_Y6B_RTF.param"/>
-  </airframe_group>
-<airframes>

src/AutoPilotPlugins/APM/APMAirframeLoader.cc

-/****************************************************************************
- *
- *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- *
- * QGroundControl is licensed according to the terms in the file
- * COPYING.md in the root of the source code directory.
- *
- ****************************************************************************/
-
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
-#include "APMAirframeLoader.h"
-#include "QGCApplication.h"
-#include "QGCLoggingCategory.h"
-#include "APMAirframeComponentAirframes.h"
-
-#include <QFile>
-#include <QFileInfo>
-#include <QDir>
-#include <QDebug>
-
-QGC_LOGGING_CATEGORY(APMAirframeLoaderLog, "APMAirframeLoaderLog")
-
-bool APMAirframeLoader::_airframeMetaDataLoaded = false;
-
-APMAirframeLoader::APMAirframeLoader(AutoPilotPlugin* autopilot, UASInterface* uas, QObject* parent)
-{
-    Q_UNUSED(autopilot);
-    Q_UNUSED(uas);
-    Q_UNUSED(parent);
-    Q_ASSERT(uas);
-}
-
-/// Load Airframe Fact meta data
-void APMAirframeLoader::loadAirframeFactMetaData(void)
-{
-    if (_airframeMetaDataLoaded) {
-        return;
-    }
-
-    qCDebug(APMAirframeLoaderLog) << "Loading APM airframe fact meta data";
-
-    Q_ASSERT(APMAirframeComponentAirframes::get().count() == 0);
-
-    QString airframeFilename(QStringLiteral(":/AutoPilotPlugins/APM/APMAirframeFactMetaData.xml"));
-
-    qCDebug(APMAirframeLoaderLog) << "Loading meta data file:" << airframeFilename;
-
-    QFile xmlFile(airframeFilename);
-    Q_ASSERT(xmlFile.exists());
-
-    bool success = xmlFile.open(QIODevice::ReadOnly);
-    Q_UNUSED(success);
-    Q_ASSERT(success);
-
-    QXmlStreamReader xml(xmlFile.readAll());
-    xmlFile.close();
-    if (xml.hasError()) {
-        qCWarning(APMAirframeLoaderLog) << "Badly formed XML" << xml.errorString();
-        return;
-    }
-
-    QString airframeGroup;
-    QString image;
-    int groupId = 0;
-    while (!xml.atEnd()) {
-        if (xml.isStartElement()) {
-            QString elementName = xml.name().toString();
-            QXmlStreamAttributes attr = xml.attributes();
-            if (elementName == QLatin1Literal("airframe_group")) {
-                airframeGroup = attr.value(QStringLiteral("name")).toString();
-                image = attr.value(QStringLiteral("image")).toString();
-                groupId = attr.value(QStringLiteral("id")).toInt();
-                APMAirframeComponentAirframes::insert(airframeGroup, groupId, image);
-            } else if (elementName == QLatin1Literal("airframe")) {
-                QString name = attr.value(QStringLiteral("name")).toString();
-                QString file = attr.value(QStringLiteral("file")).toString();
-                APMAirframeComponentAirframes::insert(airframeGroup, groupId, image, name, file);
-            }
-        }
-        xml.readNext();
-    }
-
-    _airframeMetaDataLoaded = true;
-}

src/AutoPilotPlugins/APM/APMAirframeLoader.h

-/****************************************************************************
- *
- *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- *
- * QGroundControl is licensed according to the terms in the file
- * COPYING.md in the root of the source code directory.
- *
- ****************************************************************************/
-
-
-#ifndef APMAirframeLoader_H
-#define APMAirframeLoader_H
-
-#include <QObject>
-#include <QMap>
-#include <QXmlStreamReader>
-#include <QLoggingCategory>
-
-#include "ParameterManager.h"
-#include "FactSystem.h"
-#include "UASInterface.h"
-#include "AutoPilotPlugin.h"
-
-/// @file APMAirframeLoader.h
-///     @author Lorenz Meier <lm@qgroundcontrol.org>
-
-Q_DECLARE_LOGGING_CATEGORY(APMAirframeLoaderLog)
-
-/// Collection of Parameter Facts for PX4 AutoPilot
-
-class APMAirframeLoader : QObject
-{
-    Q_OBJECT
-
-public:
-    /// @param uas Uas which this set of facts is associated with
-    APMAirframeLoader(AutoPilotPlugin* autpilot,UASInterface* uas, QObject* parent = NULL);
-
-    static void loadAirframeFactMetaData(void);
-
-private:
-    static bool _airframeMetaDataLoaded;   ///< true: parameter meta data already loaded
-    static QMap<QString, FactMetaData*> _mapParameterName2FactMetaData; ///< Maps from a parameter name to FactMetaData
-};
-
-#endif // APMAirframeLoader_H

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -15,8 +15,6 @@
 #include "FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h"
 #include "VehicleComponent.h"
 #include "APMAirframeComponent.h"
-#include "APMAirframeComponentAirframes.h"
-#include "APMAirframeLoader.h"
 #include "APMFlightModesComponent.h"
 #include "APMRadioComponent.h"
 #include "APMSafetyComponent.h"
@@ -30,6 +28,7 @@
 #include "ESP8266Component.h"
 #include "APMHeliComponent.h"
 #include "QGCApplication.h"
+#include "ParameterManager.h"
 
 #if !defined(NO_SERIAL_LINK) && !defined(__android__)
 #include <QSerialPortInfo>
@@ -50,12 +49,9 @@ APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent)
     , _safetyComponent          (NULL)
     , _sensorsComponent         (NULL)
     , _tuningComponent          (NULL)
-    , _airframeFacts            (new APMAirframeLoader(this, vehicle->uas(), this))
     , _esp8266Component         (NULL)
     , _heliComponent            (NULL)
 {
-    APMAirframeLoader::loadAirframeFactMetaData();
-
 #if !defined(NO_SERIAL_LINK) && !defined(__android__)
     connect(vehicle->parameterManager(), &ParameterManager::parametersReadyChanged, this, &APMAutoPilotPlugin::_checkForBadCubeBlack);
 #endif

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h

@@ -15,7 +15,6 @@
 #include "Vehicle.h"
 
 class APMAirframeComponent;
-class APMAirframeLoader;
 class APMFlightModesComponent;
 class APMRadioComponent;
 class APMTuningComponent;
@@ -55,7 +54,6 @@ protected:
     APMSafetyComponent*         _safetyComponent;
     APMSensorsComponent*        _sensorsComponent;
     APMTuningComponent*         _tuningComponent;
-    APMAirframeLoader*          _airframeFacts;
     ESP8266Component*           _esp8266Component;
     APMHeliComponent*           _heliComponent;
 

src/FirmwarePlugin/APM/APMResources.qrc

@@ -37,9 +37,6 @@
         <file alias="APM/MavCmdInfoSub.json">MavCmdInfoSub.json</file>
         <file alias="APM/MavCmdInfoVTOL.json">MavCmdInfoVTOL.json</file>
     </qresource>
-    <qresource prefix="/AutoPilotPlugins/APM">
-        <file alias="APMAirframeFactMetaData.xml">../../AutoPilotPlugins/APM/APMAirframeFactMetaData.xml</file>
-    </qresource>
     <qresource prefix="/FirmwarePlugin/APM">
         <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>