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Commit 60099c12 authored by Don Gagne's avatar Don Gagne
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Merge pull request #1875 from pritamghanghas/apm_support 

Added support for flashing beta and developer versions of APM stack
parents f6121689 aba85785
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Showing with 340 additions and 169 deletions
src/VehicleSetup/FirmwareUpgrade.qml
View file @ 60099c12
......@@ -139,12 +139,22 @@ QGCView {
QGCViewDialog {
anchors.fill: parent
property bool showVersionSelection: apmFlightStack.checked || advancedMode.checked
property bool showFirmwareTypeSelection: advancedMode.checked
property bool px4Flow: controller.boardType == "PX4 Flow"
function accept() {
hideDialog()
controller.flash(firmwareVersionCombo.model.get(firmwareVersionCombo.currentIndex).firmwareType)
var stack = apmFlightStack.checked ? FirmwareUpgradeController.AutoPilotStackAPM : FirmwareUpgradeController.AutoPilotStackPX4
if (px4Flow) {
stack = FirmwareUpgradeController.PX4Flow
}
var firmwareType = firmwareVersionCombo.model.get(firmwareVersionCombo.currentIndex).firmwareType
var vehicleType = FirmwareUpgradeController.DefaultVehicleFirmware
if (apmFlightStack.checked) {
vehicleType = vehicleTypeSelectionCombo.model.get(vehicleTypeSelectionCombo.currentIndex).vehicleType
}
controller.flash(stack, firmwareType, vehicleType)
}
function reject() {
......@@ -157,64 +167,64 @@ QGCView {
}
ListModel {
id: px4FirmwareTypeList
id: firmwareTypeList
ListElement {
text: "Standard Version (stable)";
firmwareType: FirmwareUpgradeController.PX4StableFirmware
firmwareType: FirmwareUpgradeController.StableFirmware
}
ListElement {
text: "Beta Testing (beta)";
firmwareType: FirmwareUpgradeController.PX4BetaFirmware
firmwareType: FirmwareUpgradeController.BetaFirmware
}
ListElement {
text: "Developer Build (master)";
firmwareType: FirmwareUpgradeController.PX4DeveloperFirmware
firmwareType: FirmwareUpgradeController.DeveloperFirmware
}
ListElement {
text: "Custom firmware file...";
firmwareType: FirmwareUpgradeController.PX4CustomFirmware
firmwareType: FirmwareUpgradeController.CustomFirmware
}
}
ListModel {
id: apmFirmwareTypeList
id: vehicleTypeList
ListElement {
text: "ArduCopter Quad"
firmwareType: FirmwareUpgradeController.ApmArduCopterQuadFirmware
text: "Quad"
vehicleType: FirmwareUpgradeController.QuadFirmware
}
ListElement {
text: "ArduCopter X8"
firmwareType: FirmwareUpgradeController.ApmArduCopterX8Firmware
text: "X8"
vehicleType: FirmwareUpgradeController.X8Firmware
}
ListElement {
text: "ArduCopter Hexa"
firmwareType: FirmwareUpgradeController.ApmArduCopterHexaFirmware
text: "Hexa"
vehicleType: FirmwareUpgradeController.HexaFirmware
}
ListElement {
text: "ArduCopter Octo"
firmwareType: FirmwareUpgradeController.ApmArduCopterOctoFirmware
text: "Octo"
vehicleType: FirmwareUpgradeController.OctoFirmware
}
ListElement {
text: "ArduCopter Y"
firmwareType: FirmwareUpgradeController.ApmArduCopterYFirmware
text: "Y"
vehicleType: FirmwareUpgradeController.YFirmware
}
ListElement {
text: "ArduCopter Y6"
firmwareType: FirmwareUpgradeController.ApmArduCopterY6Firmware
text: "Y6"
vehicleType: FirmwareUpgradeController.Y6Firmware
}
ListElement {
text: "ArduCopter Heli"
firmwareType: FirmwareUpgradeController.ApmArduCopterHeliFirmware
text: "Heli"
vehicleType: FirmwareUpgradeController.HeliFirmware
}
ListElement {
text: "ArduPlane"
firmwareType: FirmwareUpgradeController.ApmArduPlaneFirmware
text: "Plane"
vehicleType: FirmwareUpgradeController.PlaneFirmware
}
ListElement {
text: "Rover"
firmwareType: FirmwareUpgradeController.ApmRoverFirmware
vehicleType: FirmwareUpgradeController.RoverFirmware
}
}
......@@ -223,11 +233,11 @@ QGCView {
ListElement {
text: "Standard Version (stable)";
firmwareType: FirmwareUpgradeController.PX4StableFirmware
firmwareType: FirmwareUpgradeController.StableFirmware
}
ListElement {
text: "Custom firmware file...";
firmwareType: FirmwareUpgradeController.PX4CustomFirmware
firmwareType: FirmwareUpgradeController.CustomFirmware
}
}
......@@ -252,6 +262,17 @@ QGCView {
firmwareVersionCombo.currentIndex = 0
}
function vehicleTypeChanged(model) {
vehicleTypeSelectionCombo.model = null
// All of this bizarre, setting model to null and index to 1 and then to 0 is to work around
// strangeness in the combo box implementation. This sequence of steps correctly changes the combo model
// without generating any warnings and correctly updates the combo text with the new selection.
vehicleTypeSelectionCombo.model = null
vehicleTypeSelectionCombo.model = model
vehicleTypeSelectionCombo.currentIndex = 1
vehicleTypeSelectionCombo.currentIndex = 0
}
QGCRadioButton {
id: px4FlightStack
checked: true
......@@ -259,7 +280,7 @@ QGCView {
text: "PX4 Flight Stack (full QGC support)"
visible: !px4Flow
onClicked: parent.firmwareVersionChanged(px4FirmwareTypeList)
onClicked: parent.firmwareVersionChanged(firmwareTypeList)
}
QGCRadioButton {
......@@ -268,42 +289,55 @@ QGCView {
text: "APM Flight Stack (partial QGC support)"
visible: !px4Flow
onClicked: parent.firmwareVersionChanged(apmFirmwareTypeList)
onClicked: {
parent.firmwareVersionChanged(firmwareTypeList)
parent.vehicleTypeChanged(vehicleTypeList)
}
}
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
visible: showVersionSelection
visible: showFirmwareTypeSelection
text: px4Flow ? "Select which version of the firmware you would like to install:" : "Select which version of the above flight stack you would like to install:"
}
QGCComboBox {
id: firmwareVersionCombo
width: 200
visible: showVersionSelection
model: px4Flow ? px4FlowTypeList : px4FirmwareTypeList
onActivated: {
if (model.get(index).firmwareType == FirmwareUpgradeController.PX4BetaFirmware) {
firmwareVersionWarningLabel.visible = true
firmwareVersionWarningLabel.text = "WARNING: BETA FIRMWARE. " +
"This firmware version is ONLY intended for beta testers. " +
"Although it has received FLIGHT TESTING, it represents actively changed code. " +
"Do NOT use for normal operation."
} else if (model.get(index).firmwareType == FirmwareUpgradeController.PX4DeveloperFirmware) {
firmwareVersionWarningLabel.visible = true
firmwareVersionWarningLabel.text = "WARNING: CONTINUOUS BUILD FIRMWARE. " +
"This firmware has NOT BEEN FLIGHT TESTED. " +
"It is only intended for DEVELOPERS. " +
"Run bench tests without props first. " +
"Do NOT fly this without addional safety precautions. " +
"Follow the mailing list actively when using it."
} else {
firmwareVersionWarningLabel.visible = false
Row {
spacing: 10
QGCComboBox {
id: firmwareVersionCombo
width: 200
visible: showFirmwareTypeSelection
model: px4Flow ? px4FlowTypeList : firmwareTypeList
onActivated: {
if (model.get(index).firmwareType == FirmwareUpgradeController.PX4BetaFirmware || FirmwareUpgradeController.APMBetaFirmware ) {
firmwareVersionWarningLabel.visible = true
firmwareVersionWarningLabel.text = "WARNING: BETA FIRMWARE. " +
"This firmware version is ONLY intended for beta testers. " +
"Although it has received FLIGHT TESTING, it represents actively changed code. " +
"Do NOT use for normal operation."
} else if (model.get(index).firmwareType == FirmwareUpgradeController.PX4DeveloperFirmware || FirmwareUpgradeController.APMDeveloperFirmware) {
firmwareVersionWarningLabel.visible = true
firmwareVersionWarningLabel.text = "WARNING: CONTINUOUS BUILD FIRMWARE. " +
"This firmware has NOT BEEN FLIGHT TESTED. " +
"It is only intended for DEVELOPERS. " +
"Run bench tests without props first. " +
"Do NOT fly this without addional safety precautions. " +
"Follow the mailing list actively when using it."
} else {
firmwareVersionWarningLabel.visible = false
}
}
}
}
}
QGCComboBox {
id: vehicleTypeSelectionCombo
width: 200
visible: apmFlightStack.checked
model: vehicleTypeList
}
}
QGCLabel {
id: firmwareVersionWarningLabel
......@@ -311,8 +345,8 @@ QGCView {
wrapMode: Text.WordWrap
visible: false
}
}
}
QGCCheckBox {
id: advancedMode
anchors.bottom: parent.bottom
......
src/VehicleSetup/FirmwareUpgradeController.cc
View file @ 60099c12
......@@ -30,6 +30,21 @@
#include "QGCFileDialog.h"
#include "QGCMessageBox.h"
struct FirmwareToUrlElement_t {
FirmwareUpgradeController::AutoPilotStackType_t stackType;
FirmwareUpgradeController::FirmwareType_t firmwareType;
FirmwareUpgradeController::FirmwareVehicleType_t vehicleType;
QString url;
};
uint qHash(const FirmwareUpgradeController::FirmwareIdentifier& firmwareId)
{
return ( firmwareId.autopilotStackType |
(firmwareId.firmwareType << 8) |
(firmwareId.firmwareVehicleType << 16) );
}
/// @Brief Constructs a new FirmwareUpgradeController Widget. This widget is used within the PX4VehicleConfig set of screens.
FirmwareUpgradeController::FirmwareUpgradeController(void) :
_downloadManager(NULL),
......@@ -65,17 +80,25 @@ void FirmwareUpgradeController::startBoardSearch(void)
_threadController->startFindBoardLoop();
}
void FirmwareUpgradeController::flash(FirmwareType_t firmwareType)
void FirmwareUpgradeController::flash(AutoPilotStackType_t stackType,
FirmwareType_t firmwareType,
FirmwareVehicleType_t vehicleType)
{
FirmwareIdentifier firmwareId = FirmwareIdentifier(stackType, firmwareType, vehicleType);
if (_bootloaderFound) {
_getFirmwareFile(firmwareType);
_getFirmwareFile(firmwareId);
} else {
// We haven't found the bootloader yet. Need to wait until then to flash
_startFlashWhenBootloaderFound = true;
_startFlashWhenBootloaderFoundFirmwareType = firmwareType;
_startFlashWhenBootloaderFoundFirmwareIdentity = firmwareId;
}
}
void FirmwareUpgradeController::flash(const FirmwareIdentifier& firmwareId)
{
flash(firmwareId.autopilotStackType, firmwareId.firmwareType, firmwareId.firmwareVehicleType);
}
void FirmwareUpgradeController::cancel(void)
{
_eraseTimer.stop();
......@@ -105,10 +128,12 @@ void FirmwareUpgradeController::_foundBoard(bool firstAttempt, const QSerialPort
case FoundBoard3drRadio:
_foundBoardType = "3DR Radio";
if (!firstAttempt) {
// Radio always flashes stable firmware, so we can start right away without
// Radio always flashes latest firmware, so we can start right away without
// any further user input.
_startFlashWhenBootloaderFound = true;
_startFlashWhenBootloaderFoundFirmwareType = PX4StableFirmware;
_startFlashWhenBootloaderFoundFirmwareIdentity = FirmwareIdentifier(ThreeDRRadio,
StableFirmware,
DefaultVehicleFirmware);
}
break;
}
......@@ -143,7 +168,135 @@ void FirmwareUpgradeController::_foundBootloader(int bootloaderVersion, int boar
_appendStatusLog(QString(" Flash size: %1").arg(_bootloaderBoardFlashSize));
if (_startFlashWhenBootloaderFound) {
flash(_startFlashWhenBootloaderFoundFirmwareType);
flash(_startFlashWhenBootloaderFoundFirmwareIdentity);
}
}
/// @brief intializes the firmware hashes with proper urls.
/// This happens only once for a class instance first time when it is needed.
void FirmwareUpgradeController::_initFirmwareHash()
{
// indirect check whether this function has been called before or not
// may have to be modified if _rgPX4FMUV2Firmware disappears
if (!_rgPX4FMUV2Firmware.isEmpty()) {
return;
}
//////////////////////////////////// PX4FMUV2 firmwares //////////////////////////////////////////////////
FirmwareToUrlElement_t rgPX4FMV2FirmwareArray[] = {
{ AutoPilotStackPX4, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v2_default.px4"},
{ AutoPilotStackPX4, BetaFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v2_default.px4"},
{ AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v2_default.px4"},
{ AutoPilotStackAPM, StableFirmware, QuadFirmware, "http://firmware.diydrones.com/Copter/stable/PX4-quad/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, StableFirmware, X8Firmware, "http://firmware.diydrones.com/Copter/stable/PX4-octa-quad/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, StableFirmware, HexaFirmware, "http://firmware.diydrones.com/Copter/stable/PX4-hexa/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, StableFirmware, OctoFirmware, "http://firmware.diydrones.com/Copter/stable/PX4-octa/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, StableFirmware, YFirmware, "http://firmware.diydrones.com/Copter/stable/PX4-tri/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, StableFirmware, Y6Firmware, "http://firmware.diydrones.com/Copter/stable/PX4-y6/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, StableFirmware, HeliFirmware, "http://firmware.diydrones.com/Copter/stable/PX4-heli/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, StableFirmware, PlaneFirmware, "http://firmware.diydrones.com/Plane/stable/PX4/ArduPlane-v2.px4"},
{ AutoPilotStackAPM, StableFirmware, RoverFirmware, "http://firmware.diydrones.com/Rover/stable/PX4/APMrover2-v2.px4"},
{ AutoPilotStackAPM, BetaFirmware, QuadFirmware, "http://firmware.diydrones.com/Copter/beta/PX4-quad/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, BetaFirmware, X8Firmware, "http://firmware.diydrones.com/Copter/beta/PX4-octa-quad/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, BetaFirmware, HexaFirmware, "http://firmware.diydrones.com/Copter/beta/PX4-hexa/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, BetaFirmware, OctoFirmware, "http://firmware.diydrones.com/Copter/beta/PX4-octa/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, BetaFirmware, YFirmware, "http://firmware.diydrones.com/Copter/beta/PX4-tri/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, BetaFirmware, Y6Firmware, "http://firmware.diydrones.com/Copter/beta/PX4-y6/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, BetaFirmware, HeliFirmware, "http://firmware.diydrones.com/Copter/beta/PX4-heli/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, BetaFirmware, PlaneFirmware, "http://firmware.diydrones.com/Plane/beta/PX4/ArduPlane-v2.px4"},
{ AutoPilotStackAPM, BetaFirmware, RoverFirmware, "http://firmware.diydrones.com/Rover/beta/PX4/APMrover2-v2.px4"},
{ AutoPilotStackAPM, DeveloperFirmware, QuadFirmware, "http://firmware.diydrones.com/Copter/latest/PX4-quad/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, DeveloperFirmware, X8Firmware, "http://firmware.diydrones.com/Copter/latest/PX4-octa-quad/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, DeveloperFirmware, HexaFirmware, "http://firmware.diydrones.com/Copter/latest/PX4-hexa/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, DeveloperFirmware, OctoFirmware, "http://firmware.diydrones.com/Copter/latest/PX4-octa/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, DeveloperFirmware, YFirmware, "http://firmware.diydrones.com/Copter/latest/PX4-tri/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, DeveloperFirmware, Y6Firmware, "http://firmware.diydrones.com/Copter/latest/PX4-y6/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, DeveloperFirmware, HeliFirmware, "http://firmware.diydrones.com/Copter/latest/PX4-heli/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, DeveloperFirmware, PlaneFirmware, "http://firmware.diydrones.com/Plane/latest/PX4/ArduPlane-v2.px4"},
{ AutoPilotStackAPM, DeveloperFirmware, RoverFirmware, "http://firmware.diydrones.com/Rover/latest/PX4/APMrover2-v2.px4"}
};
//////////////////////////////////// PX4FMU aerocore firmwares //////////////////////////////////////////////////
FirmwareToUrlElement_t rgAeroCoreFirmwareArray[] = {
{ AutoPilotStackPX4, StableFirmware, DefaultVehicleFirmware, "http://gumstix-aerocore.s3.amazonaws.com/PX4/stable/aerocore_default.px4"},
{ AutoPilotStackPX4, BetaFirmware, DefaultVehicleFirmware, "http://gumstix-aerocore.s3.amazonaws.com/PX4/beta/aerocore_default.px4"},
{ AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://gumstix-aerocore.s3.amazonaws.com/PX4/master/aerocore_default.px4"},
{ AutoPilotStackAPM, StableFirmware, QuadFirmware, "http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-quad/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, StableFirmware, X8Firmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-octa-quad/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, StableFirmware, HexaFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-hexa/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, StableFirmware, OctoFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-octa/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, StableFirmware, YFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-tri/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, StableFirmware, Y6Firmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-y6/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, StableFirmware, HeliFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-heli/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, StableFirmware, PlaneFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Plane/stable/PX4/ArduPlane-v2.px4"},
{ AutoPilotStackAPM, StableFirmware, RoverFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Rover/stable/PX4/APMrover2-v2.px4"},
{ AutoPilotStackAPM, BetaFirmware, QuadFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/beta/PX4-quad/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, BetaFirmware, X8Firmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/beta/PX4-octa-quad/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, BetaFirmware, HexaFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/beta/PX4-hexa/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, BetaFirmware, OctoFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/beta/PX4-octa/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, BetaFirmware, YFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/beta/PX4-tri/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, BetaFirmware, Y6Firmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/beta/PX4-y6/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, BetaFirmware, HeliFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/beta/PX4-heli/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, BetaFirmware, PlaneFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Plane/beta/PX4/ArduPlane-v2.px4"},
{ AutoPilotStackAPM, BetaFirmware, RoverFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Rover/beta/PX4/APMrover2-v2.px4"},
{ AutoPilotStackAPM, DeveloperFirmware, QuadFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-quad/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, DeveloperFirmware, X8Firmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-octa-quad/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, DeveloperFirmware, HexaFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-hexa/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, DeveloperFirmware, OctoFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-octa/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, DeveloperFirmware, YFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-tri/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, DeveloperFirmware, Y6Firmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-y6/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, DeveloperFirmware, HeliFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-heli/ArduCopter-v2.px4"},
{ AutoPilotStackAPM, DeveloperFirmware, PlaneFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Plane/latest/PX4/ArduPlane-v2.px4"},
{ AutoPilotStackAPM, DeveloperFirmware, RoverFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Rover/latest/PX4/APMrover2-v2.px4"}
};
/////////////////////////////// FMUV1 firmwares ///////////////////////////////////////////
FirmwareToUrlElement_t rgPX4FMUV1FirmwareArray[] = {
{ AutoPilotStackPX4, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/latest/px4fmu-v1_default.px4"},
{ AutoPilotStackPX4, BetaFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v1_default.px4"},
{ AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v1_default.px4"},
};
/////////////////////////////// px4flow firmwares ///////////////////////////////////////
FirmwareToUrlElement_t rgPX4FLowFirmwareArray[] = {
{ PX4Flow, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Flow/master/px4flow.px4" },
};
/////////////////////////////// 3dr radio firmwares ///////////////////////////////////////
FirmwareToUrlElement_t rg3DRRadioFirmwareArray[] = {
{ ThreeDRRadio, StableFirmware, DefaultVehicleFirmware, "http://firmware.diydrones.com/SiK/stable/radio~hm_trp.ihx"}
};
// populate hashes now
int size = sizeof(rgPX4FMV2FirmwareArray)/sizeof(rgPX4FMV2FirmwareArray[0]);
for (int i = 0; i < size; i++) {
const FirmwareToUrlElement_t& element = rgPX4FMV2FirmwareArray[i];
_rgPX4FMUV2Firmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
}
size = sizeof(rgAeroCoreFirmwareArray)/sizeof(rgAeroCoreFirmwareArray[0]);
for (int i = 0; i < size; i++) {
const FirmwareToUrlElement_t& element = rgAeroCoreFirmwareArray[i];
_rgAeroCoreFirmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
}
size = sizeof(rgPX4FMUV1FirmwareArray)/sizeof(rgPX4FMUV1FirmwareArray[0]);
for (int i = 0; i < size; i++) {
const FirmwareToUrlElement_t& element = rgPX4FMUV1FirmwareArray[i];
_rgPX4FMUV1Firmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
}
size = sizeof(rgPX4FLowFirmwareArray)/sizeof(rgPX4FLowFirmwareArray[0]);
for (int i = 0; i < size; i++) {
const FirmwareToUrlElement_t& element = rgPX4FLowFirmwareArray[i];
_rgPX4FLowFirmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
}
size = sizeof(rg3DRRadioFirmwareArray)/sizeof(rg3DRRadioFirmwareArray[0]);
for (int i = 0; i < size; i++) {
const FirmwareToUrlElement_t& element = rg3DRRadioFirmwareArray[i];
_rg3DRRadioFirmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
}
}
......@@ -155,116 +308,54 @@ void FirmwareUpgradeController::_bootloaderSyncFailed(void)
}
/// @brief Prompts the user to select a firmware file if needed and moves the state machine to the next state.
void FirmwareUpgradeController::_getFirmwareFile(FirmwareType_t firmwareType)
void FirmwareUpgradeController::_getFirmwareFile(FirmwareIdentifier firmwareId)
{
static DownloadLocationByFirmwareType_t rgPX4FMUV2Firmware[] = {
{ PX4StableFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v2_default.px4" },
{ PX4BetaFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v2_default.px4" },
{ PX4DeveloperFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v2_default.px4"},
{ ApmArduCopterQuadFirmware, "http://firmware.diydrones.com/Copter/stable/PX4-quad/ArduCopter-v2.px4" },
{ ApmArduCopterX8Firmware, "http://firmware.diydrones.com/Copter/stable/PX4-octa-quad/ArduCopter-v2.px4" },
{ ApmArduCopterHexaFirmware, "http://firmware.diydrones.com/Copter/stable/PX4-hexa/ArduCopter-v2.px4" },
{ ApmArduCopterOctoFirmware, "http://firmware.diydrones.com/Copter/stable/PX4-octa/ArduCopter-v2.px4" },
{ ApmArduCopterYFirmware, "http://firmware.diydrones.com/Copter/stable/PX4-tri/ArduCopter-v2.px4" },
{ ApmArduCopterY6Firmware, "http://firmware.diydrones.com/Copter/stable/PX4-y6/ArduCopter-v2.px4" },
{ ApmArduCopterHeliFirmware, "http://firmware.diydrones.com/Copter/stable/PX4-heli/ArduCopter-v2.px4" },
{ ApmArduPlaneFirmware, "http://firmware.diydrones.com/Plane/stable/PX4/ArduPlane-v2.px4" },
{ ApmRoverFirmware, "http://firmware.diydrones.com/Plane/stable/PX4/APMrover2-v2.px4" },
};
static const size_t crgPX4FMUV2Firmware = sizeof(rgPX4FMUV2Firmware) / sizeof(rgPX4FMUV2Firmware[0]);
static const DownloadLocationByFirmwareType_t rgAeroCoreFirmware[] = {
{ PX4StableFirmware, "http://gumstix-aerocore.s3.amazonaws.com/PX4/stable/aerocore_default.px4" },
{ PX4BetaFirmware, "http://gumstix-aerocore.s3.amazonaws.com/PX4/beta/aerocore_default.px4" },
{ PX4DeveloperFirmware, "http://gumstix-aerocore.s3.amazonaws.com/PX4/master/aerocore_default.px4" },
{ ApmArduCopterQuadFirmware, "http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-quad/ArduCopter-aerocore.px4" },
{ ApmArduCopterX8Firmware, "http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-octa-quad/ArduCopter-aerocore.px4" },
{ ApmArduCopterHexaFirmware, "http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-hexa/ArduCopter-aerocore.px4" },
{ ApmArduCopterOctoFirmware, "http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-octa/ArduCopter-aerocore.px4" },
{ ApmArduCopterYFirmware, "http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-tri/ArduCopter-aerocore.px4" },
{ ApmArduCopterY6Firmware, "http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-y6/ArduCopter-aerocore.px4" },
{ ApmArduCopterHeliFirmware, "http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-heli/ArduCopter-aerocore.px4" },
{ ApmArduPlaneFirmware, "http://gumstix-aerocore.s3.amazonaws.com/APM/Plane/stable/PX4/ArduPlane-aerocore.px4" },
{ ApmRoverFirmware, "http://gumstix-aerocore.s3.amazonaws.com/APM/Plane/stable/PX4/APMrover2-aerocore.px4" },
};
static const size_t crgAeroCoreFirmware = sizeof(rgAeroCoreFirmware) / sizeof(rgAeroCoreFirmware[0]);
static const DownloadLocationByFirmwareType_t rgPX4FMUV1Firmware[] = {
{ PX4StableFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v1_default.px4" },
{ PX4BetaFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v1_default.px4" },
{ PX4DeveloperFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v1_default.px4" },
};
static const size_t crgPX4FMUV1Firmware = sizeof(rgPX4FMUV1Firmware) / sizeof(rgPX4FMUV1Firmware[0]);
static const DownloadLocationByFirmwareType_t rgPX4FlowFirmware[] = {
{ PX4StableFirmware, "http://px4-travis.s3.amazonaws.com/Flow/master/px4flow.px4" },
};
static const size_t crgPX4FlowFirmware = sizeof(rgPX4FlowFirmware) / sizeof(rgPX4FlowFirmware[0]);
static const DownloadLocationByFirmwareType_t rg3DRRadioFirmware[] = {
{ PX4StableFirmware, "http://firmware.diydrones.com/SiK/stable/radio~hm_trp.ihx" },
};
static const size_t crg3DRRadioFirmware = sizeof(rg3DRRadioFirmware) / sizeof(rg3DRRadioFirmware[0]);
// make sure the firmware hashes are populated
_initFirmwareHash();
// Select the firmware set based on board type
const DownloadLocationByFirmwareType_t* prgFirmware;
size_t crgFirmware = 0;
QHash<FirmwareIdentifier, QString> prgFirmware;
switch (_bootloaderBoardID) {
case Bootloader::boardIDPX4FMUV1:
prgFirmware = rgPX4FMUV1Firmware;
crgFirmware = crgPX4FMUV1Firmware;
prgFirmware = _rgPX4FMUV1Firmware;
break;
case Bootloader::boardIDPX4Flow:
prgFirmware = rgPX4FlowFirmware;
crgFirmware = crgPX4FlowFirmware;
prgFirmware = _rgPX4FLowFirmware;
break;
case Bootloader::boardIDPX4FMUV2:
prgFirmware = rgPX4FMUV2Firmware;
crgFirmware = crgPX4FMUV2Firmware;
prgFirmware = _rgPX4FMUV2Firmware;
break;
case Bootloader::boardIDAeroCore:
prgFirmware = rgAeroCoreFirmware;
crgFirmware = crgAeroCoreFirmware;
prgFirmware = _rgAeroCoreFirmware;
break;
case Bootloader::boardID3DRRadio:
prgFirmware = rg3DRRadioFirmware;
crgFirmware = crg3DRRadioFirmware;
prgFirmware = _rg3DRRadioFirmware;
break;
default:
prgFirmware = NULL;
break;
}
if (prgFirmware == NULL && firmwareType != PX4CustomFirmware) {
if (prgFirmware.isEmpty() && firmwareId.firmwareType != CustomFirmware) {
_errorCancel("Attempting to flash an unknown board type, you must select 'Custom firmware file'");
return;
}
if (firmwareType == PX4CustomFirmware) {
if (firmwareId.firmwareType == CustomFirmware) {
_firmwareFilename = QGCFileDialog::getOpenFileName(NULL, // Parent to main window
"Select Firmware File", // Dialog Caption
QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation), // Initial directory
"Firmware Files (*.px4 *.bin *.ihx)"); // File filter
} else {
bool found = false;
for (size_t i=0; i<crgFirmware; i++) {
if (prgFirmware->firmwareType == firmwareType) {
found = true;
break;
}
prgFirmware++;
}
if (found) {
_firmwareFilename = prgFirmware->downloadLocation;
if (prgFirmware.contains(firmwareId)) {
_firmwareFilename = prgFirmware.value(firmwareId);
} else {
_errorCancel("Unable to find specified firmware download location");
return;
......
src/VehicleSetup/FirmwareUpgradeController.h
View file @ 60099c12
......@@ -43,33 +43,68 @@
#include <stdint.h>
/// Supported firmware types. If you modify these you will need to update the qml file as well.
// Firmware Upgrade MVC Controller for FirmwareUpgrade.qml.
class FirmwareUpgradeController : public QObject
{
Q_OBJECT
public:
typedef enum {
AutoPilotStackPX4,
AutoPilotStackAPM,
PX4Flow,
ThreeDRRadio
} AutoPilotStackType_t;
typedef enum {
StableFirmware,
BetaFirmware,
DeveloperFirmware,
CustomFirmware
} FirmwareType_t;
typedef enum {
QuadFirmware,
X8Firmware,
HexaFirmware,
OctoFirmware,
YFirmware,
Y6Firmware,
HeliFirmware,
PlaneFirmware,
RoverFirmware,
DefaultVehicleFirmware
} FirmwareVehicleType_t;
Q_ENUMS(AutoPilotStackType_t)
Q_ENUMS(FirmwareType_t)
Q_ENUMS(FirmwareVehicleType_t)
class FirmwareIdentifier
{
public:
FirmwareIdentifier(AutoPilotStackType_t stack = AutoPilotStackPX4,
FirmwareType_t firmware = StableFirmware,
FirmwareVehicleType_t vehicle = DefaultVehicleFirmware)
: autopilotStackType(stack), firmwareType(firmware), firmwareVehicleType(vehicle) {}
bool operator==(const FirmwareIdentifier& firmwareId) const
{
return (firmwareId.autopilotStackType == autopilotStackType &&
firmwareId.firmwareType == firmwareType &&
firmwareId.firmwareVehicleType == firmwareVehicleType);
}
// members
AutoPilotStackType_t autopilotStackType;
FirmwareType_t firmwareType;
FirmwareVehicleType_t firmwareVehicleType;
};
FirmwareUpgradeController(void);
/// Supported firmware types. If you modify these you will need to update the qml file as well.
typedef enum {
PX4StableFirmware,
PX4BetaFirmware,
PX4DeveloperFirmware,
PX4CustomFirmware,
ApmArduCopterQuadFirmware,
ApmArduCopterX8Firmware,
ApmArduCopterHexaFirmware,
ApmArduCopterOctoFirmware,
ApmArduCopterYFirmware,
ApmArduCopterY6Firmware,
ApmArduCopterHeliFirmware,
ApmArduPlaneFirmware,
ApmRoverFirmware,
} FirmwareType_t;
Q_ENUMS(FirmwareType_t)
Q_PROPERTY(QString boardPort READ boardPort NOTIFY boardFound)
Q_PROPERTY(QString boardDescription READ boardDescription NOTIFY boardFound)
Q_PROPERTY(QString boardType MEMBER _foundBoardType NOTIFY boardFound)
......@@ -90,8 +125,13 @@ public:
Q_INVOKABLE void cancel(void);
/// Called when the firmware type has been selected by the user to continue the flash process.
Q_INVOKABLE void flash(FirmwareType_t firmwareType);
Q_INVOKABLE void flash(AutoPilotStackType_t stackType,
FirmwareType_t firmwareType = StableFirmware,
FirmwareVehicleType_t vehicleType = DefaultVehicleFirmware );
// overload, not exposed to qml side
void flash(const FirmwareIdentifier& firmwareId);
// Property accessors
QQuickItem* progressBar(void) { return _progressBar; }
......@@ -133,27 +173,30 @@ private slots:
void _linkDisconnected(LinkInterface* link);
private:
void _getFirmwareFile(FirmwareType_t firmwareType);
void _getFirmwareFile(FirmwareIdentifier firmwareId);
void _initFirmwareHash();
void _downloadFirmware(void);
void _appendStatusLog(const QString& text, bool critical = false);
void _errorCancel(const QString& msg);
typedef struct {
FirmwareType_t firmwareType;
const char* downloadLocation;
} DownloadLocationByFirmwareType_t;
QString _portName;
QString _portDescription;
// firmware hashes
QHash<FirmwareIdentifier, QString> _rgPX4FMUV2Firmware;
QHash<FirmwareIdentifier, QString> _rgAeroCoreFirmware;
QHash<FirmwareIdentifier, QString> _rgPX4FMUV1Firmware;
QHash<FirmwareIdentifier, QString> _rgPX4FLowFirmware;
QHash<FirmwareIdentifier, QString> _rg3DRRadioFirmware;
/// Information which comes back from the bootloader
bool _bootloaderFound; ///< true: we have received the foundBootloader signals
uint32_t _bootloaderVersion; ///< Bootloader version
uint32_t _bootloaderBoardID; ///< Board ID
uint32_t _bootloaderBoardFlashSize; ///< Flash size in bytes of board
bool _startFlashWhenBootloaderFound;
FirmwareType_t _startFlashWhenBootloaderFoundFirmwareType;
bool _startFlashWhenBootloaderFound;
FirmwareIdentifier _startFlashWhenBootloaderFoundFirmwareIdentity;
QPixmap _boardIcon; ///< Icon used to display image of board
......@@ -184,4 +227,7 @@ private:
FirmwareImage* _image;
};
// global hashing function
uint qHash(const FirmwareUpgradeController::FirmwareIdentifier& firmwareId);
#endif
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