From 5a039092a6b12297dcdfabe966bdfc5e727c5137 Mon Sep 17 00:00:00 2001 From: Don Gagne Date: Thu, 14 Apr 2016 18:58:03 -0700 Subject: [PATCH] Fix APM parameter versioning --- qgcresources.qrc | 6 +- src/FactSystem/ParameterLoader.cc | 16 +- src/FirmwarePlugin/APM/APMFirmwarePlugin.cc | 94 +- src/FirmwarePlugin/APM/APMFirmwarePlugin.h | 3 +- .../APMParameterFactMetaData.Copter.3.3.xml | 5336 +++++++++++++++ .../APMParameterFactMetaData.Copter.3.4.xml | 6072 +++++++++++++++++ .../APMParameterFactMetaData.Plane.3.3.xml | 5032 ++++++++++++++ ...=> APMParameterFactMetaData.Plane.3.5.xml} | 509 +- .../APMParameterFactMetaData.Rover.3.0.xml | 6072 +++++++++++++++++ .../APM/APMParameterMetaData.cc | 31 +- src/FirmwarePlugin/APM/APMParameterMetaData.h | 2 +- src/Vehicle/Vehicle.cc | 13 + src/Vehicle/Vehicle.h | 9 + 13 files changed, 23031 insertions(+), 164 deletions(-) create mode 100644 src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml create mode 100644 src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.4.xml create mode 100644 src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.3.xml rename src/FirmwarePlugin/APM/{APMParameterFactMetaData.xml => APMParameterFactMetaData.Plane.3.5.xml} (93%) create mode 100644 src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml diff --git a/qgcresources.qrc b/qgcresources.qrc index e6667ed40..a4bb7bb9f 100644 --- a/qgcresources.qrc +++ b/qgcresources.qrc @@ -241,7 +241,11 @@ src/AutoPilotPlugins/APM/APMAirframeFactMetaData.xml - src/FirmwarePlugin/APM/APMParameterFactMetaData.xml + src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.3.xml + src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.5.xml + src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml + src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.4.xml + src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml diff --git a/src/FactSystem/ParameterLoader.cc b/src/FactSystem/ParameterLoader.cc index 002440619..894dcbc19 100644 --- a/src/FactSystem/ParameterLoader.cc +++ b/src/FactSystem/ParameterLoader.cc @@ -30,6 +30,7 @@ #include "QGCApplication.h" #include "UASMessageHandler.h" #include "FirmwarePlugin.h" +#include "APMFirmwarePlugin.h" #include "UAS.h" #include @@ -904,11 +905,20 @@ void ParameterLoader::_addMetaDataToDefaultComponent(void) return; } - // Load best parameter meta data set + QString metaDataFile; int majorVersion, minorVersion; - QString metaDataFile = parameterMetaDataFile(_vehicle->firmwareType(), _parameterSetMajorVersion, majorVersion, minorVersion); + if (_vehicle->firmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { + // Parameter versioning is still not really figured out correctly. We need to handle ArduPilot specially based on vehicle version. + // The current three version are hardcoded in. + metaDataFile = ((APMFirmwarePlugin*)_vehicle->firmwarePlugin())->getParameterMetaDataFile(_vehicle); + qCDebug(ParameterLoaderLog) << "Adding meta data to Vehicle file:major:minor" << metaDataFile; + } else { + // Load best parameter meta data set + metaDataFile = parameterMetaDataFile(_vehicle->firmwareType(), _parameterSetMajorVersion, majorVersion, minorVersion); + qCDebug(ParameterLoaderLog) << "Adding meta data to Vehicle file:major:minor" << metaDataFile << majorVersion << minorVersion; + } + _parameterMetaData = _vehicle->firmwarePlugin()->loadParameterMetaData(metaDataFile); - qCDebug(ParameterLoaderLog) << "Adding meta data to Vehicle file:major:minor" << metaDataFile << majorVersion << minorVersion; // Loop over all parameters in default component adding meta data QVariantMap& factMap = _mapParameterName2Variant[_defaultComponentId]; diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc index e39d7dbf3..188e7f62d 100644 --- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc +++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc @@ -313,44 +313,44 @@ bool APMFirmwarePlugin::_handleStatusText(Vehicle* vehicle, mavlink_message_t* m mavlink_statustext_t statusText; mavlink_msg_statustext_decode(message, &statusText); - if (!_firmwareVersion.isValid() || statusText.severity < MAV_SEVERITY_NOTICE) { + if (vehicle->firmwareMajorVersion() == -1 || statusText.severity < MAV_SEVERITY_NOTICE) { messageText = _getMessageText(message); qCDebug(APMFirmwarePluginLog) << messageText; - if (!_firmwareVersion.isValid() && !messageText.contains(APM_SOLO_REXP)) { + if (!messageText.contains(APM_SOLO_REXP)) { // if don't know firmwareVersion yet, try and see if this message contains it if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP)) { // found version string - _firmwareVersion = APMFirmwareVersion(messageText); - _textSeverityAdjustmentNeeded = _isTextSeverityAdjustmentNeeded(_firmwareVersion); - - if (!_firmwareVersion.isBeta() && !_firmwareVersion.isDev()) { - int supportedMajorNumber = -1; - int supportedMinorNumber = -1; - - switch (vehicle->vehicleType()) { - case MAV_TYPE_FIXED_WING: - supportedMajorNumber = 3; - supportedMinorNumber = 2; - break; - case MAV_TYPE_QUADROTOR: - case MAV_TYPE_COAXIAL: - case MAV_TYPE_HELICOPTER: - case MAV_TYPE_SUBMARINE: - case MAV_TYPE_HEXAROTOR: - case MAV_TYPE_OCTOROTOR: - case MAV_TYPE_TRICOPTER: - supportedMajorNumber = 3; - supportedMinorNumber = 2; - break; - default: - break; - } + APMFirmwareVersion firmwareVersion(messageText); + _textSeverityAdjustmentNeeded = _isTextSeverityAdjustmentNeeded(firmwareVersion); + + vehicle->setFirmwareVersion(firmwareVersion.majorNumber(), firmwareVersion.minorNumber(), firmwareVersion.patchNumber()); + + int supportedMajorNumber = -1; + int supportedMinorNumber = -1; + + switch (vehicle->vehicleType()) { + case MAV_TYPE_FIXED_WING: + supportedMajorNumber = 3; + supportedMinorNumber = 2; + break; + case MAV_TYPE_QUADROTOR: + case MAV_TYPE_COAXIAL: + case MAV_TYPE_HELICOPTER: + case MAV_TYPE_SUBMARINE: + case MAV_TYPE_HEXAROTOR: + case MAV_TYPE_OCTOROTOR: + case MAV_TYPE_TRICOPTER: + supportedMajorNumber = 3; + supportedMinorNumber = 2; + break; + default: + break; + } - if (supportedMajorNumber != -1) { - if (_firmwareVersion.majorNumber() < supportedMajorNumber || _firmwareVersion.minorNumber() < supportedMinorNumber) { - qgcApp()->showMessage(QString("QGroundControl fully supports Version %1.%2 and above. You are using a version prior to that. This combination is untested, you may run into unpredictable results.").arg(supportedMajorNumber).arg(supportedMinorNumber)); - } + if (supportedMajorNumber != -1) { + if (firmwareVersion.majorNumber() < supportedMajorNumber || firmwareVersion.minorNumber() < supportedMinorNumber) { + qgcApp()->showMessage(QString("QGroundControl fully supports Version %1.%2 and above. You are using a version prior to that. This combination is untested, you may run into unpredictable results.").arg(supportedMajorNumber).arg(supportedMinorNumber)); } } } @@ -601,7 +601,8 @@ QObject* APMFirmwarePlugin::loadParameterMetaData(const QString& metaDataFile) { Q_UNUSED(metaDataFile); - APMParameterMetaData* metaData = new APMParameterMetaData; + APMParameterMetaData* metaData = new APMParameterMetaData(); + metaData->loadParameterFactMetaDataFile(metaDataFile); return metaData; } @@ -630,3 +631,32 @@ void APMFirmwarePlugin::_artooSocketError(QAbstractSocket::SocketError socketErr { qgcApp()->showMessage(tr("Error during Solo video link setup: %1").arg(socketError)); } + +QString APMFirmwarePlugin::getParameterMetaDataFile(Vehicle* vehicle) +{ + switch (vehicle->vehicleType()) { + case MAV_TYPE_QUADROTOR: + case MAV_TYPE_HEXAROTOR: + case MAV_TYPE_OCTOROTOR: + case MAV_TYPE_TRICOPTER: + case MAV_TYPE_COAXIAL: + case MAV_TYPE_HELICOPTER: + if (vehicle->firmwareMajorVersion() < 3 || (vehicle->firmwareMajorVersion() == 3 && vehicle->firmwareMinorVersion() <= 3)) { + return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml"); + } else { + return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.4.xml"); + } + case MAV_TYPE_FIXED_WING: + if (vehicle->firmwareMajorVersion() < 3 || (vehicle->firmwareMajorVersion() == 3 && vehicle->firmwareMinorVersion() <= 3)) { + return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.3.xml"); + } else { + return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.5.xml"); + } + case MAV_TYPE_GROUND_ROVER: + case MAV_TYPE_SURFACE_BOAT: + case MAV_TYPE_SUBMARINE: + return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml"); + default: + return QString(); + } +} diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h index 24c8efa43..0c7b7701c 100644 --- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h +++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h @@ -105,6 +105,8 @@ public: void getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); } QObject* loadParameterMetaData (const QString& metaDataFile); + QString getParameterMetaDataFile(Vehicle* vehicle); + protected: /// All access to singleton is through stack specific implementation APMFirmwarePlugin(void); @@ -125,7 +127,6 @@ private: void _handleHeartbeat(Vehicle* vehicle, mavlink_message_t* message); void _soloVideoHandshake(Vehicle* vehicle); - APMFirmwareVersion _firmwareVersion; bool _textSeverityAdjustmentNeeded; QList _supportedModes; QMap _noisyPrearmMap; diff --git a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml new file mode 100644 index 000000000..a8af68505 --- /dev/null +++ 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2200 +1 +pwm + + +800 2200 +1 +pwm + + + +Reversed +Normal + + + +0 200 +pwm + + + + +800 2200 +1 +pwm + + +800 2200 +1 +pwm + + +800 2200 +1 +pwm + + + +Reversed +Normal + + + +0 200 +pwm + + + + +800 2200 +1 +pwm + + +800 2200 +1 +pwm + + +800 2200 +1 +pwm + + + +Reversed +Normal + + + +0 200 +pwm + + + + + +Do Not Spin +VerySlow +Slow +Medium +Fast + + + + +Opposite direction +Same direction + + + + +Opposite direction +Same direction + + + + +Opposite direction +Same direction + + + +50, 125, 250 + + + diff --git a/src/FirmwarePlugin/APM/APMParameterFactMetaData.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.5.xml similarity index 93% rename from src/FirmwarePlugin/APM/APMParameterFactMetaData.xml rename to src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.5.xml index 5829b9110..d9ad7e60a 100644 --- a/src/FirmwarePlugin/APM/APMParameterFactMetaData.xml +++ b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.5.xml @@ -6,6 +6,7 @@ +True 1 255 @@ -108,6 +109,11 @@ 1 percent + +0 127 +1 +percent + 0 100 Percent @@ -130,11 +136,50 @@ 0.1 seconds + +0 30 +0.1 +meters + + +0 10 +0.1 +seconds + + +0 30 +0.1 +m/s + + +0:AUTO_ALWAYS,1:AUTO_LAND,2:AUTO_LOITER_TO_ALT,3:AUTO_LOITER_ALL,4:AUTO_WAYPOINTS,5:LOITER,6:RTL,7:CIRCLE,8:CRUISE,9:FBWB,10:GUIDED + +Disabled +AlwaysAllowedInAuto +Auto_LandApproach +Auto_LoiterToAlt +Auto_Loiter +Auto_Waypoint +Loiter +RTL +Circle +Cruise +FBWB +Guided + + 0 127 1 seconds + + +Disabled +Servos to Neutral +Servos to Zero PWM + + Disabled @@ -177,6 +222,11 @@ 1 Meters + +-32767 32767 +1 +Meters + None @@ -250,11 +300,12 @@ meters -1-10 +1 10 0.1 +m/s - -0 100 + +-100 100 1 Percent @@ -323,11 +374,12 @@ 0.5 seconds - + Continue ReturnToLaunch Glide +Deploy Parachute @@ -641,7 +693,9 @@ 0 100 Percent - + + + @@ -686,7 +740,11 @@ Enable - + +10 127 +m/s/s + + 0:Disarm Disabled @@ -704,8 +762,10 @@ +True +True ArduPlane AntennaTracker @@ -742,10 +802,12 @@ 0.0 500.0 10 - + +0:Feedback from mid stick,1:High throttle cancels landing None -FeedbackFromMid +Feedback from mid stick +High throttle cancels landing @@ -767,6 +829,15 @@ 1 Centimeters + +0.5 10.0 + +Disabled +Shallow +Steep + +.1 + 0 2000 50 @@ -933,7 +1004,7 @@ 300 700 -1 +10 Percent*10 @@ -958,6 +1029,7 @@ AutoTune PosHold Brake +Throw @@ -977,6 +1049,7 @@ AutoTune PosHold Brake +Throw @@ -996,6 +1069,7 @@ AutoTune PosHold Brake +Throw @@ -1015,6 +1089,7 @@ AutoTune PosHold Brake +Throw @@ -1034,6 +1109,7 @@ AutoTune PosHold Brake +Throw @@ -1053,6 +1129,7 @@ AutoTune PosHold Brake +Throw @@ -1166,11 +1243,15 @@ AttCon Accel Limits Retract Mount Relay On/Off +Relay2 On/Off +Relay3 On/Off +Relay4 On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake +Throw @@ -1199,11 +1280,15 @@ AttCon Accel Limits Retract Mount Relay On/Off +Relay2 On/Off +Relay3 On/Off +Relay4 On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake +Throw @@ -1232,11 +1317,15 @@ AttCon Accel Limits Retract Mount Relay On/Off +Relay2 On/Off +Relay3 On/Off +Relay4 On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake +Throw @@ -1265,11 +1354,15 @@ AttCon Accel Limits Retract Mount Relay On/Off +Relay2 On/Off +Relay3 On/Off +Relay4 On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake +Throw @@ -1298,11 +1391,15 @@ AttCon Accel Limits Retract Mount Relay On/Off +Relay2 On/Off +Relay3 On/Off +Relay4 On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake +Throw @@ -1331,11 +1428,15 @@ AttCon Accel Limits Retract Mount Relay On/Off +Relay2 On/Off +Relay3 On/Off +Relay4 On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake +Throw @@ -1369,7 +1470,7 @@ Crisp Very Crisp -1 +10 4 12 @@ -1494,6 +1595,7 @@ 0.500 1.500 +0.05 0.000 3.000 @@ -1524,16 +1626,6 @@ 0.500 2.000 - -0.100 5.000 - - -0.100 5.000 - - -0 1000 -cm/s - 0:Roll,1:Pitch,2:Yaw @@ -1552,8 +1644,25 @@ 0.001 0.006 + + +Stopped +Running + + + + + +True + +ArduPlane +AntennaTracker +Copter +Rover + + 1 255 @@ -1656,11 +1765,55 @@ 1 meters + +0:ATTITUDE,1:GPS,2:RCIN,3:IMU,4:RCOUT,5:COMPASS + +Default +Disabled + + + +0.0 3.0 +0.01 + + +0.0 3.0 +0.01 + + +0 4000 +10 +Percent*10 + + +0.001 0.1 +0.001 + + +0.0 3.0 +0.01 + + +0.0 3.0 +0.01 + + +0 4000 +10 +Percent*10 + + +0.001 0.1 +0.001 + 1 255 + +True + Disabled @@ -2045,12 +2198,16 @@ -pascals +True +True 1 +pascals -degrees celsius +True +True 1 +degrees celsius meters @@ -2110,7 +2267,6 @@ Airborne2G Airborne4G -True @@ -2132,18 +2288,16 @@ Enabled NoChange -True -100 90 Degrees -True send to first GPS -send to 2nd GPS -send to all +send to 2nd GPS +send to all @@ -2161,8 +2315,8 @@ True - -0:GPS, 1:SBAS, 2:Galileo, 3:Beidou, 4:IMES, 5:QZSS, 6:GLOSNASS + +0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS Leave as currently configured GPS-NoSBAS @@ -2175,12 +2329,33 @@ GLONASS+SBAS GPS+GLONASS+SBAS -True - + Do not save config Save config +Save only when needed + + + +0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS + +Leave as currently configured +GPS-NoSBAS +GPS+SBAS +Galileo-NoSBAS +Galileo+SBAS +Beidou +GPS+IMES+QZSS+SBAS (Japan Only) +GLONASS +GLONASS+SBAS +GPS+GLONASS+SBAS + + + + +Disables automatic configuration +Enable automatic configuration @@ -2213,6 +2388,27 @@ High + +0 10000 +milliseconds + + +0 180 +Degrees + + + +Disabled +APM FeedbackPin +PixHawk FeedbackPin + + + + +TriggerLow +TriggerHigh + + @@ -2223,13 +2419,13 @@ -0:All,1:Barometer,2:Compass,3:GPS,4:INS,5:Parameters,6:RC,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available +0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration None All Barometer Compass -GPS +GPS Lock INS(INertial Sensors - accels & gyros) Parameters(unused) RC Failsafe @@ -2237,8 +2433,22 @@ Battery Level Airspeed LoggingAvailable +Hardware safety switch +GPS configuration + +0.25 3.0 +m/s/s + + +0.1 +Volts + + +0.1 +Volts + @@ -2914,6 +3124,8 @@ EPM LandingGear EngineRunEnable +HeliRSC +HeliTailRSC @@ -2973,6 +3185,8 @@ EPM LandingGear EngineRunEnable +HeliRSC +HeliTailRSC @@ -3032,6 +3246,8 @@ EPM LandingGear EngineRunEnable +HeliRSC +HeliTailRSC @@ -3091,6 +3307,8 @@ EPM LandingGear EngineRunEnable +HeliRSC +HeliTailRSC @@ -3150,6 +3368,8 @@ EPM LandingGear EngineRunEnable +HeliRSC +HeliTailRSC @@ -3209,6 +3429,8 @@ EPM LandingGear EngineRunEnable +HeliRSC +HeliTailRSC @@ -3268,6 +3490,8 @@ EPM LandingGear EngineRunEnable +HeliRSC +HeliTailRSC @@ -3327,6 +3551,8 @@ EPM LandingGear EngineRunEnable +HeliRSC +HeliTailRSC @@ -3386,6 +3612,8 @@ EPM LandingGear EngineRunEnable +HeliRSC +HeliTailRSC @@ -3445,6 +3673,8 @@ EPM LandingGear EngineRunEnable +HeliRSC +HeliTailRSC @@ -3917,6 +4147,17 @@ ShowOverruns + + +50Hz +100Hz +200Hz +250Hz +300Hz +400Hz + +True + @@ -3941,7 +4182,7 @@ - + Unknown APM1-1280 @@ -4071,7 +4312,7 @@ -0.05 to 50 +0.05 50 @@ -4079,6 +4320,20 @@ Start-up only + + +Don't adjust the trims +Assume first orientation was level +Assume ACC_BODYFIX is perfectly aligned to the vehicle + + + + +IMU 1 +IMU 2 +IMU 3 + + @@ -4211,16 +4466,16 @@ -1-60 +1 60 1 seconds -0.6-1.0 +0.6 1.0 0.05 -0 to 0.1 +0 0.1 0.01 @@ -4277,12 +4532,12 @@ -1 127 1 - --1 to 100 + +-1 100 0.1 - -0.0 2.0 + +-1.0 2.0 0.1 @@ -4306,9 +4561,35 @@ 0.1 -0 40 +-5 40 1 + +0.0 20.0 +0.1 +m/s + + +-2.0 2.0 +0.1 +m/s/m + + +0.1 1.0 +0.1 + + +0.0 0.5 +0.02 + + +0.0 0.5 +0.02 + + +0.1 1.0 +0.1 + @@ -4460,45 +4741,7 @@ SToRM32 MAVLink SToRM32 Serial - - -0 0.5 -radians - - -0 0.5 -radians - - -0 0.5 -radians - - -0 2 -m/s - - -0 2 -m/s - - -0 2 -m/s - - -0 0.5 -radians/sec - - -0 0.5 -radians/sec - - -0 0.5 -radians/sec - - -0 10 +True @@ -4701,6 +4944,10 @@ 50 mAh + +1 +Watts + Disabled @@ -4742,6 +4989,10 @@ 50 mAh + +1 +Amps + @@ -4772,14 +5023,20 @@ Enabled - + Disabled -Enabled +50Hz +75Hz +100Hz +150Hz +200Hz +250Hz +300Hz --32767 to 32768 (any 16bit signed number) +-32767 32768 @@ -4868,6 +5125,12 @@ + + +Disabled +Enabled + + 0.05 5.0 0.05 @@ -4985,29 +5248,29 @@ meters -1 - 50 +1 50 1 -0.05 - 1.0 +0.05 1.0 0.05 rad/s -1 - 100 +1 100 1 -0 - 500 +0 500 10 milliseconds -1 - 100 +1 100 1 -1.0 - 4.0 +1.0 4.0 0.1 @@ -5025,12 +5288,6 @@ 0:NSats,1:HDoP,2:speed error,3:horiz pos error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed - - -Disabled -Enabled - - @@ -5134,25 +5391,25 @@ m -100 - 1000 +100 1000 25 -1.0 - 4.0 +1.0 4.0 0.1 rad/s -0.05 - 1.0 +0.05 1.0 0.05 rad/s -100 - 1000 +100 1000 25 -0 - 250 +0 250 10 msec @@ -5201,6 +5458,10 @@ 50 200 % + +0.5 50.0 +m/s + @@ -5275,6 +5536,16 @@ Microseconds + + + +Off +Low +Medium +High + + + 800 2200 @@ -5588,6 +5859,12 @@ 1000 Centi-Degrees/Sec/Sec + + +Disabled +Enabled + + @@ -5700,7 +5977,10 @@ 0.1 -0:NoFlybar 1:Flybar + +NoFlybar +Flybar + 0 1000 @@ -5844,16 +6124,33 @@ 50, 125, 250 - - + + + +Disabled +Enabled Always Land +Enabled Strict + + + None CompanionComputer IRLock - + 0 500 + +0.100 5.000 + + +0.100 5.000 + + +0 1000 +cm/s + diff --git a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml new file mode 100644 index 000000000..8cd7d80ef --- /dev/null +++ b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml @@ -0,0 +1,6072 @@ + + + + + + + + +True + + +1 255 + + +1 255 + + + +Disabled +Enabled + + + +1 10 +1 + + +0 10 +1 +seconds + + +0:Roll,1:Pitch,2:Yaw + +None +Roll +Pitch +Yaw + + + +0 1 +0.01 + + +0 5 +0.01 + + +0 15 +0.1 +Degrees + + +0 1000 +1 +meters + + +0 100 +1 +meters + + + +Disabled +FBWMixing +DirectMixing + + + + +Disabled +Enabled + + + +0 30 +0.1 +m/s + + +0 30 +0.1 +m/s/s + + +0 127 +1 +0.1 seconds + + +-100 100 +1 +Percent + + +0 30 +0.1 +m/s + + +0 30 +0.1 +m/s + + +0 127 +1 +percent + + +0 127 +1 +percent + + +0 100 +Percent + + + + +0 45 +1 +degrees + + +centi-Degrees + + +0.1 +meters + + +0.1 +seconds + + +0 30 +0.1 +meters + + +0 10 +0.1 +seconds + + +0 30 +0.1 +m/s + + +0:AUTO_ALWAYS,1:AUTO_LAND,2:AUTO_LOITER_TO_ALT,3:AUTO_LOITER_ALL,4:AUTO_WAYPOINTS,5:LOITER,6:RTL,7:CIRCLE,8:CRUISE,9:FBWB,10:GUIDED + +Disabled +AlwaysAllowedInAuto +Auto_LandApproach +Auto_LoiterToAlt +Auto_Loiter +Auto_Waypoint +Loiter +RTL +Circle +Cruise +FBWB +Guided + + + +0 127 +1 +seconds + + + +Disabled +Servos to Neutral +Servos to Zero PWM + + + + +Disabled +Enabled + + + + +Default +L1Controller + + + +0 1 +0.1 +Percent + + + +Automatic + + + +-32767 32767 +1 +Meters + + +1 32767 +1 +Meters + + +0 32767 +1 +Meters + + +-32767 32767 +1 +Meters + + +-32767 32767 +1 +Meters + + + +None +GuidedMode +ReportOnly +GuidedModeThrPass + + + + + + + +0 32767 +1 +meters + + +0 32767 +1 +meters + + +0 32767 +1 +meters + + + +NoAutoEnable +AutoEnable +AutoEnableDisableFloorOnly + + + + +FenceReturnPoint +NearestRallyPoint + + + + +Disabled +Enabled + + + +5 100 +1 +m/s + + +5 100 +1 +m/s + + + +Disabled +Enabled + + + + +Disabled +Enabled + + + +0 10000 +meters + + +1 10 +0.1 +m/s + + +-100 100 +1 +Percent + + +0 100 +1 +Percent + + +0 100 +1 +Percent + + +0 127 +1 +Percent + + +0 100 +1 +Percent + + + +Disabled +Enabled + + + + +Disabled +Enabled + + + + +Disabled +Enabled + + + +925 1100 +1 + + +0 100 +1 +Percent + + + +Disabled +Enabled + + + + +CIRCLE/no change(if already in AUTO|GUIDED|LOITER) +CIRCLE +FBWA + + + +1 100 +0.5 +seconds + + + +Continue +ReturnToLaunch +Glide +Deploy Parachute + + + +1 300 +0.5 +seconds + + +0.1 +Volts + + +50 +mAh + + + +Disabled +Heartbeat +HeartbeatAndREMRSSI +HeartbeatAndAUTO + + + + + + +Manual +CIRCLE +STABILIZE +TRAINING +ACRO +FBWA +FBWB +CRUISE +AUTOTUNE +Auto +RTL +Loiter +Guided + + + + +Manual +CIRCLE +STABILIZE +TRAINING +ACRO +FBWA +FBWB +CRUISE +AUTOTUNE +Auto +RTL +Loiter +Guided + + + + +Manual +CIRCLE +STABILIZE +TRAINING +ACRO +FBWA +FBWB +CRUISE +AUTOTUNE +Auto +RTL +Loiter +Guided + + + + +Manual +CIRCLE +STABILIZE +TRAINING +ACRO +FBWA +FBWB +CRUISE +AUTOTUNE +Auto +RTL +Loiter +Guided + + + + +Manual +CIRCLE +STABILIZE +TRAINING +ACRO +FBWA +FBWB +CRUISE +AUTOTUNE +Auto +RTL +Loiter +Guided + + + + +Manual +CIRCLE +STABILIZE +TRAINING +ACRO +FBWA +FBWB +CRUISE +AUTOTUNE +Auto +RTL +Loiter +Guided + + + + +Manual +CIRCLE +STABILIZE +TRAINING +ACRO +FBWA +FBWB +CRUISE +AUTOTUNE +Auto +RTL +Loiter +Guided + + + +0 9000 +1 +centi-Degrees + + +0 9000 +1 +centi-Degrees + + +-9000 0 +1 +centi-Degrees + + +10 500 +1 +degrees/second + + +10 500 +1 +degrees/second + + + +Disabled +Enabled + + + +-100 100 +0.1 +Meters + + +10 360 +1 +degrees/second + + + +Disabled +Enabled + + + + +Disabled +Enabled + + + + +Disabled +Enabled + + + + +Disabled +Enabled + + + + +Disabled +Enabled + + + + +Disabled +UpUp +UpDown +DownUp +DownDown + + + + +Disabled +UpUp +UpDown +DownUp +DownDown + + + +0.5 1.2 + + + +Disabled +Enabled + + + + + +0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:MODE,7:IMU,8:CMD,9:CURRENT,10:COMPASS,11:TECS,12:CAMERA,13:RC,14:SONAR,15:ARM/DISARM,16:WHEN_DISARMED,19:IMU_RAW + +Disabled +APM2-Default +PX4/Pixhawk-Default + + + + + + + +cm/s + + +m/s + + +cm/s + + +centi-Degrees + + +centimeters + + +centimeters + + + +Disabled +Enabled + + + + + + +Disabled +UpUp +UpDown +DownUp +DownDown + + + +0 100 +Percent + + +0 100 +1 +m/s + + +0 100 +Percent + + +0 100 +1 +m/s + + +0 100 +Percent + + + + + + + +Disabled +Channel1 +Channel2 +Channel3 +Channel4 +Channel5 +Channel6 +Channel7 +Channel8 + + + + +Disabled +Enabled + + + + +Disabled +Enabled + + + +0 90 +0.1 +degrees + + + +Disable +Enable - go HOME then land +Enable - go directly to landing sequence + + + + +Disable +Enable + + + +10 127 +m/s/s + + +0:Disarm + +Disabled +Disarm + + + + + + +Disabled +Enabled + + + + + +True + + +True + +ArduPlane +AntennaTracker +Copter +Rover + + + +1 255 + + + +Mission Planner and DroidPlanner + AP Planner 2 + + + + +Disabled +Enabled + + + +0 10 +.5 +Hz + + +0.0 1000.0 +10 +Centimeters + + +0.0 500.0 +10 + + +0:Feedback from mid stick,1:High throttle cancels landing + +None +Feedback from mid stick +High throttle cancels landing + + + +0 10 +1 +seconds + + +0:Roll,1:Pitch,2:Yaw + +None +Roll +Pitch +Yaw + + + +0 8000 +1 +Centimeters + + +0.5 10.0 + +Disabled +Shallow +Steep + +.1 + + +0 2000 +50 +cm/s + + +0.01 2.0 +0.01 + + + +Disabled +Land +RTL + + + +0.1 +Volts + + +50 +mAh + + + +Disabled +Enabled always RTL +Enabled Continue with Mission in Auto Mode + + + +100 900 + + + +Disabled +Enabled + + + + +Disabled +Mode1 +Mode2 +Mode1+2 +Mode3 +Mode1+3 +Mode2+3 +Mode1+2+3 +Mode4 +Mode1+4 +Mode2+4 +Mode1+2+4 +Mode3+4 +Mode1+3+4 +Mode2+3+4 +Mode1+2+3+4 +Mode5 +Mode1+5 +Mode2+5 +Mode1+2+5 +Mode3+5 +Mode1+3+5 +Mode2+3+5 +Mode1+2+3+5 +Mode4+5 +Mode1+4+5 +Mode2+4+5 +Mode1+2+4+5 +Mode3+4+5 +Mode1+3+4+5 +Mode2+3+4+5 +Mode1+2+3+4+5 +Mode6 +Mode1+6 +Mode2+6 +Mode1+2+6 +Mode3+6 +Mode1+3+6 +Mode2+3+6 +Mode1+2+3+6 +Mode4+6 +Mode1+4+6 +Mode2+4+6 +Mode1+2+4+6 +Mode3+4+6 +Mode1+3+4+6 +Mode2+3+4+6 +Mode1+2+3+4+6 +Mode5+6 +Mode1+5+6 +Mode2+5+6 +Mode1+2+5+6 +Mode3+5+6 +Mode1+3+5+6 +Mode2+3+5+6 +Mode1+2+3+5+6 +Mode4+5+6 +Mode1+4+5+6 +Mode2+4+5+6 +Mode1+2+4+5+6 +Mode3+4+5+6 +Mode1+3+4+5+6 +Mode2+3+4+5+6 +Mode1+2+3+4+5+6 + + + +-1 1000 +1 +Centimeters + + +0 3000 +10 +Centimeters + + + +Never change yaw +Face next waypoint +Face next waypoint except RTL +Face along GPS course + + + +0 60000 +1000 +ms + + +30 200 +10 +cm/s + + +0 500 +10 +cm/s + + +50 500 +10 +Centimeters/Second + + +50 500 +10 +cm/s/s + + +0 300 +1 +Percent*10 + + + +Disabled +Enabled always RTL +Enabled Continue with Mission in Auto Mode +Enabled always LAND + + + +925 1100 +1 +pwm + + +300 700 +10 +Percent*10 + + +0 300 +1 +pwm + + + +Stabilize +Acro +AltHold +Auto +Guided +Loiter +RTL +Circle +Land +Drift +Sport +Flip +AutoTune +PosHold +Brake +Throw + + + + +Stabilize +Acro +AltHold +Auto +Guided +Loiter +RTL +Circle +Land +Drift +Sport +Flip +AutoTune +PosHold +Brake +Throw + + + + +Stabilize +Acro +AltHold +Auto +Guided +Loiter +RTL +Circle +Land +Drift +Sport +Flip +AutoTune +PosHold +Brake +Throw + + + + +Stabilize +Acro +AltHold +Auto +Guided +Loiter +RTL +Circle +Land +Drift +Sport +Flip +AutoTune +PosHold +Brake +Throw + + + + +Stabilize +Acro +AltHold +Auto +Guided +Loiter +RTL +Circle +Land +Drift +Sport +Flip +AutoTune +PosHold +Brake +Throw + + + + +Stabilize +Acro +AltHold +Auto +Guided +Loiter +RTL +Circle +Land +Drift +Sport +Flip +AutoTune +PosHold +Brake +Throw + + + + + +0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,16:WHEN_DISARMED,17:MOTBATT,18:IMU_FAST,19:IMU_RAW + +Default +Default+RCIN +Default+IMU +Default+Motors +NearlyAll-AC315 +NearlyAll +All+DisarmedLogging +All+FastATT +All+MotBatt +All+FastIMU +All+FastIMU+PID +All+FullIMU +Disabled + + + + +Normal Start-up +Start-up in ESC Calibration mode if throttle high +Start-up in ESC Calibration mode regardless of throttle +Disabled + + + + +None +Stab Roll/Pitch kP +Rate Roll/Pitch kP +Rate Roll/Pitch kI +Rate Roll/Pitch kD +Stab Yaw kP +Rate Yaw kP +Rate Yaw kD +Altitude Hold kP +Throttle Rate kP +Throttle Accel kP +Throttle Accel kI +Throttle Accel kD +Loiter Speed +Loiter Pos kP +Velocity XY kP +Velocity XY kI +WP Speed +Acro RollPitch kP +Acro Yaw kP +Heli Ext Gyro +OF Loiter kP +OF Loiter kI +OF Loiter kD +Declination +Circle Rate +RangeFinder Gain +Rate Pitch kP +Rate Pitch kI +Rate Pitch kD +Rate Roll kP +Rate Roll kI +Rate Roll kD +Rate Pitch FF +Rate Roll FF +Rate Yaw FF + + + +0 32767 + + +0 32767 + + + +Plus +X +V +H +V-Tail +A-Tail +Y6B (New) + + + + +Do Nothing +Flip +Simple Mode +RTL +Save Trim +Save WP +Camera Trigger +RangeFinder +Fence +ResetToArmedYaw +Super Simple Mode +Acro Trainer +Auto +AutoTune +Land +EPM +Parachute Enable +Parachute Release +Parachute 3pos +Auto Mission Reset +AttCon 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QVariant @@ -123,10 +122,7 @@ QString APMParameterMetaData::mavTypeToString(MAV_TYPE vehicleTypeEnum) return vehicleName; } -/// Load Parameter Fact meta data -/// -/// The meta data comes from firmware parameters.xml file. -void APMParameterMetaData::_loadParameterFactMetaData() +void APMParameterMetaData::loadParameterFactMetaDataFile(const QString& metaDataFile) { if (_parameterMetaDataLoaded) { return; @@ -136,17 +132,9 @@ void APMParameterMetaData::_loadParameterFactMetaData() QRegExp parameterCategories = QRegExp("ArduCopter|ArduPlane|APMrover2|AntennaTracker"); QString currentCategory; - QString parameterFilename; - - // Fixme:: always picking up the bundled xml, we would like to update it from web - // just not sure right now as the xml is in bad shape. - if (parameterFilename.isEmpty() || !QFile(parameterFilename).exists()) { - parameterFilename = ":/FirmwarePlugin/APM/APMParameterFactMetaData.xml"; - } - - qCDebug(APMParameterMetaDataLog) << "Loading parameter meta data:" << parameterFilename; + qCDebug(APMParameterMetaDataLog) << "Loading parameter meta data:" << metaDataFile; - QFile xmlFile(parameterFilename); + QFile xmlFile(metaDataFile); Q_ASSERT(xmlFile.exists()); bool success = xmlFile.open(QIODevice::ReadOnly); @@ -591,15 +579,18 @@ void APMParameterMetaData::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType) } } - // FixMe:: not handling increment size as their is no place for it in FactMetaData and no ui fact->setMetaData(metaData); } void APMParameterMetaData::getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion) { - Q_UNUSED(metaDataFile); - - // Versioning not yet supported majorVersion = -1; minorVersion = -1; + + // Meta data version is hacked in for now based on file name + QRegExp regExp(".*\\.(\\d)\\.(\\d)\\.xml$"); + if (regExp.exactMatch(metaDataFile) && regExp.captureCount() == 2) { + majorVersion = regExp.cap(2).toInt(); + minorVersion = 0; + } } diff --git a/src/FirmwarePlugin/APM/APMParameterMetaData.h b/src/FirmwarePlugin/APM/APMParameterMetaData.h index 323c2650c..6b2343da9 100644 --- a/src/FirmwarePlugin/APM/APMParameterMetaData.h +++ b/src/FirmwarePlugin/APM/APMParameterMetaData.h @@ -70,6 +70,7 @@ public: APMParameterMetaData(void); void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType); + void loadParameterFactMetaDataFile(const QString& metaDataFile); static void getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion); @@ -86,7 +87,6 @@ private: XmlStateDone }; - void _loadParameterFactMetaData(); QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk); bool skipXMLBlock(QXmlStreamReader& xml, const QString& blockName); bool parseParameterAttributes(QXmlStreamReader& xml, APMFactMetaDataRaw *rawMetaData); diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc index 277fd2936..0994aa23a 100644 --- a/src/Vehicle/Vehicle.cc +++ b/src/Vehicle/Vehicle.cc @@ -121,6 +121,9 @@ Vehicle::Vehicle(LinkInterface* link, , _messageSeq(0) , _compID(0) , _heardFrom(false) + , _firmwareMajorVersion(-1) + , _firmwareMinorVersion(-1) + , _firmwarePatchVersion(-1) , _rollFact (0, _rollFactName, FactMetaData::valueTypeDouble) , _pitchFact (0, _pitchFactName, FactMetaData::valueTypeDouble) , _headingFact (0, _headingFactName, FactMetaData::valueTypeDouble) @@ -288,6 +291,9 @@ Vehicle::Vehicle(QObject* parent) , _messageSeq(0) , _compID(0) , _heardFrom(false) + , _firmwareMajorVersion(-1) + , _firmwareMinorVersion(-1) + , _firmwarePatchVersion(-1) , _rollFact (0, _rollFactName, FactMetaData::valueTypeDouble) , _pitchFact (0, _pitchFactName, FactMetaData::valueTypeDouble) , _headingFact (0, _headingFactName, FactMetaData::valueTypeDouble) @@ -1587,6 +1593,13 @@ void Vehicle::_prearmErrorTimeout(void) setPrearmError(QString()); } +void Vehicle::setFirmwareVersion(int majorVersion, int minorVersion, int patchVersion) +{ + _firmwareMajorVersion = majorVersion; + _firmwareMinorVersion = minorVersion; + _firmwarePatchVersion = patchVersion; +} + const char* VehicleGPSFactGroup::_hdopFactName = "hdop"; const char* VehicleGPSFactGroup::_vdopFactName = "vdop"; const char* VehicleGPSFactGroup::_courseOverGroundFactName = "courseOverGround"; diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h index 7e3089f83..a739c6f4e 100644 --- a/src/Vehicle/Vehicle.h +++ b/src/Vehicle/Vehicle.h @@ -520,6 +520,11 @@ public: bool containsLink(LinkInterface* link) { return _links.contains(link); } void doCommandLong(int component, MAV_CMD command, float param1 = 0.0f, float param2 = 0.0f, float param3 = 0.0f, float param4 = 0.0f, float param5 = 0.0f, float param6 = 0.0f, float param7 = 0.0f); + int firmwareMajorVersion(void) const { return _firmwareMajorVersion; } + int firmwareMinorVersion(void) const { return _firmwareMinorVersion; } + int firmwarePatchVersion(void) const { return _firmwarePatchVersion; } + void setFirmwareVersion(int majorVersion, int minorVersion, int patchVersion); + public slots: void setLatitude(double latitude); void setLongitude(double longitude); @@ -731,6 +736,10 @@ private: uint8_t _compID; bool _heardFrom; + int _firmwareMajorVersion; + int _firmwareMinorVersion; + int _firmwarePatchVersion; + static const int _lowBatteryAnnounceRepeatMSecs; // Amount of time in between each low battery announcement QElapsedTimer _lowBatteryAnnounceTimer; -- 2.22.0