Changes for new calibration in APM 3.0 (Re:...

Changes for new calibration in APM 3.0 (Re: https://github.com/diydrones/MissionPlanner/issues/38), and change in some of the serial timeouts

files/ardupilotmega/fixed_wing/calibration/calibration.qgw

+[PX4%20Calibration%20Tool]
+QGC_TOOL_WIDGET_ITEMS\1\TYPE=COMMANDBUTTON
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_DESCRIPTION=Reboot (only in standby)
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_BUTTONTEXT=REBOOT
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_COMMANDID=246
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM1=1
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM2=0
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM3=0
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM4=0
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM5=0
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM6=0
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM7=0
+QGC_TOOL_WIDGET_ITEMS\2\TYPE=COMMANDBUTTON
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_DESCRIPTION=Magnetometer calibration
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_BUTTONTEXT=MAG
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_COMMANDID=241
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM1=0
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM2=1
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM3=0
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM4=0
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM5=0
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM6=0
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM7=0
+QGC_TOOL_WIDGET_ITEMS\3\TYPE=COMMANDBUTTON
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_DESCRIPTION=Accelerometer calibration
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_BUTTONTEXT=ACCEL
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_COMMANDID=241
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM1=0
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM2=0
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM3=0
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM4=0
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM5=1
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM6=0
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM7=0
+QGC_TOOL_WIDGET_ITEMS\4\TYPE=COMMANDBUTTON
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_DESCRIPTION=Gyroscope calibration
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_BUTTONTEXT=GYRO
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_COMMANDID=241
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM1=1
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM2=0
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM3=0
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM4=0
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM5=0
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM6=0
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM7=0
+QGC_TOOL_WIDGET_ITEMS\5\QGC_COMMAND_BUTTON_DESCRIPTION=RC Trim calibration
+QGC_TOOL_WIDGET_ITEMS\5\QGC_COMMAND_BUTTON_BUTTONTEXT=TRIM
+QGC_TOOL_WIDGET_ITEMS\5\QGC_COMMAND_BUTTON_COMMANDID=241
+QGC_TOOL_WIDGET_ITEMS\5\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
+QGC_TOOL_WIDGET_ITEMS\5\QGC_COMMAND_BUTTON_PARAM1=1
+QGC_TOOL_WIDGET_ITEMS\5\QGC_COMMAND_BUTTON_PARAM2=0
+QGC_TOOL_WIDGET_ITEMS\5\QGC_COMMAND_BUTTON_PARAM3=0
+QGC_TOOL_WIDGET_ITEMS\5\QGC_COMMAND_BUTTON_PARAM4=1
+QGC_TOOL_WIDGET_ITEMS\5\QGC_COMMAND_BUTTON_PARAM5=0
+QGC_TOOL_WIDGET_ITEMS\5\QGC_COMMAND_BUTTON_PARAM6=0
+QGC_TOOL_WIDGET_ITEMS\5\QGC_COMMAND_BUTTON_PARAM7=0
+QGC_TOOL_WIDGET_ITEMS\size=5

files/ardupilotmega/general/calibration/calibration.qgw

@@ -12,81 +12,27 @@ QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM5=0
 QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM6=0
 QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM7=0
 
+
 QGC_TOOL_WIDGET_ITEMS\2\TYPE=TEXT
 QGC_TOOL_WIDGET_ITEMS\2\QGC_TEXT_SOURCE=NONE
-QGC_TOOL_WIDGET_ITEMS\2\QGC_TEXT_ID=MAG_LABEL
+QGC_TOOL_WIDGET_ITEMS\2\QGC_TEXT_ID=ACCEL_LABEL
 QGC_TOOL_WIDGET_ITEMS\2\QGC_TEXT_TEXT=
 QGC_TOOL_WIDGET_ITEMS\3\TYPE=COMMANDBUTTON
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_DESCRIPTION=Magnetometer calibration
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_BUTTONTEXT=MAG
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_DESCRIPTION=Accelerometer calibration
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_BUTTONTEXT=ACCEL
 QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_COMMANDID=241
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_LABEL=MAG_TEXT
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_LABEL=ACCEL_TEXT
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_RESPONSE=6
 QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
 QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM1=0
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM2=1
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM2=0
 QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM3=0
 QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM4=0
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM5=0
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM5=1
 QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM6=0
 QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM7=0
 QGC_TOOL_WIDGET_ITEMS\4\TYPE=TEXT
 QGC_TOOL_WIDGET_ITEMS\4\QGC_TEXT_SOURCE=MAV
-QGC_TOOL_WIDGET_ITEMS\4\QGC_TEXT_ID=MAG_TEXT
+QGC_TOOL_WIDGET_ITEMS\4\QGC_TEXT_ID=ACCEL_TEXT
 QGC_TOOL_WIDGET_ITEMS\4\QGC_TEXT_TEXT=
-
-QGC_TOOL_WIDGET_ITEMS\5\TYPE=TEXT
-QGC_TOOL_WIDGET_ITEMS\5\QGC_TEXT_SOURCE=NONE
-QGC_TOOL_WIDGET_ITEMS\5\QGC_TEXT_ID=ACCEL_LABEL
-QGC_TOOL_WIDGET_ITEMS\5\QGC_TEXT_TEXT=
-QGC_TOOL_WIDGET_ITEMS\6\TYPE=COMMANDBUTTON
-QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_DESCRIPTION=Accelerometer calibration
-QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_BUTTONTEXT=ACCEL
-QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_COMMANDID=241
-QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_LABEL=ACCEL_TEXT
-QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
-QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAM1=0
-QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAM2=0
-QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAM3=0
-QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAM4=0
-QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAM5=1
-QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAM6=0
-QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAM7=0
-QGC_TOOL_WIDGET_ITEMS\7\TYPE=TEXT
-QGC_TOOL_WIDGET_ITEMS\7\QGC_TEXT_SOURCE=MAV
-QGC_TOOL_WIDGET_ITEMS\7\QGC_TEXT_ID=ACCEL_TEXT
-QGC_TOOL_WIDGET_ITEMS\7\QGC_TEXT_TEXT=
-
-QGC_TOOL_WIDGET_ITEMS\8\TYPE=TEXT
-QGC_TOOL_WIDGET_ITEMS\8\QGC_TEXT_SOURCE=NONE
-QGC_TOOL_WIDGET_ITEMS\8\QGC_TEXT_ID=GYRO_LABEL
-QGC_TOOL_WIDGET_ITEMS\8\QGC_TEXT_TEXT=
-QGC_TOOL_WIDGET_ITEMS\9\TYPE=COMMANDBUTTON
-QGC_TOOL_WIDGET_ITEMS\9\QGC_COMMAND_BUTTON_DESCRIPTION=Gyroscope calibration
-QGC_TOOL_WIDGET_ITEMS\9\QGC_COMMAND_BUTTON_BUTTONTEXT=GYRO
-QGC_TOOL_WIDGET_ITEMS\9\QGC_COMMAND_BUTTON_COMMANDID=241
-QGC_TOOL_WIDGET_ITEMS\9\QGC_COMMAND_BUTTON_LABEL=GYRO_TEXT
-QGC_TOOL_WIDGET_ITEMS\9\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
-QGC_TOOL_WIDGET_ITEMS\9\QGC_COMMAND_BUTTON_PARAM1=1
-QGC_TOOL_WIDGET_ITEMS\9\QGC_COMMAND_BUTTON_PARAM2=0
-QGC_TOOL_WIDGET_ITEMS\9\QGC_COMMAND_BUTTON_PARAM3=0
-QGC_TOOL_WIDGET_ITEMS\9\QGC_COMMAND_BUTTON_PARAM4=0
-QGC_TOOL_WIDGET_ITEMS\9\QGC_COMMAND_BUTTON_PARAM5=0
-QGC_TOOL_WIDGET_ITEMS\9\QGC_COMMAND_BUTTON_PARAM6=0
-QGC_TOOL_WIDGET_ITEMS\9\QGC_COMMAND_BUTTON_PARAM7=0
-QGC_TOOL_WIDGET_ITEMS\10\TYPE=TEXT
-QGC_TOOL_WIDGET_ITEMS\10\QGC_TEXT_SOURCE=MAV
-QGC_TOOL_WIDGET_ITEMS\10\QGC_TEXT_ID=GYRO_TEXT
-QGC_TOOL_WIDGET_ITEMS\10\QGC_TEXT_TEXT=
-
-QGC_TOOL_WIDGET_ITEMS\11\QGC_COMMAND_BUTTON_DESCRIPTION=RC Trim calibration
-QGC_TOOL_WIDGET_ITEMS\11\QGC_COMMAND_BUTTON_BUTTONTEXT=TRIM
-QGC_TOOL_WIDGET_ITEMS\11\QGC_COMMAND_BUTTON_COMMANDID=241
-QGC_TOOL_WIDGET_ITEMS\11\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
-QGC_TOOL_WIDGET_ITEMS\11\QGC_COMMAND_BUTTON_PARAM1=1
-QGC_TOOL_WIDGET_ITEMS\11\QGC_COMMAND_BUTTON_PARAM2=0
-QGC_TOOL_WIDGET_ITEMS\11\QGC_COMMAND_BUTTON_PARAM3=0
-QGC_TOOL_WIDGET_ITEMS\11\QGC_COMMAND_BUTTON_PARAM4=1
-QGC_TOOL_WIDGET_ITEMS\11\QGC_COMMAND_BUTTON_PARAM5=0
-QGC_TOOL_WIDGET_ITEMS\11\QGC_COMMAND_BUTTON_PARAM6=0
-QGC_TOOL_WIDGET_ITEMS\11\QGC_COMMAND_BUTTON_PARAM7=0
-QGC_TOOL_WIDGET_ITEMS\size=11
+QGC_TOOL_WIDGET_ITEMS\size=4

src/comm/SerialLink.cc

@@ -398,9 +398,11 @@ void SerialLink::run()
 
     // Qt way to make clear what a while(1) loop does
     quint64 msecs = QDateTime::currentMSecsSinceEpoch();
+    quint64 initialmsecs = QDateTime::currentMSecsSinceEpoch();
     quint64 bytes = 0;
     bool triedreset = false;
     bool triedDTR = false;
+    int timeout = 2500;
     forever
     {
         {
@@ -420,10 +422,19 @@ void SerialLink::run()
         }
         else
         {
-            if (QDateTime::currentMSecsSinceEpoch() - msecs > 10000)
+            if (QDateTime::currentMSecsSinceEpoch() - msecs > timeout)
             {
                 //It's been 10 seconds since the last data came in. Reset and try again
                 msecs = QDateTime::currentMSecsSinceEpoch();
+                if (msecs - initialmsecs > 25000)
+                {
+                    //After initial 25 seconds, timeouts are increased to 30 seconds.
+                    //This prevents temporary silences from things like calibration commands
+                    //from screwing things up. In all reality, timeouts should be enabled/disabled
+                    //for events like that on a case by case basis.
+                    //TODO ^^
+                    timeout = 30000;
+                }
                 if (!triedDTR && triedreset)
                 {
                     triedDTR = true;

src/uas/ArduPilotMegaMAV.cc

@@ -34,6 +34,15 @@ ArduPilotMegaMAV::ArduPilotMegaMAV(MAVLinkProtocol* mavlink, int id) :
     //This does not seem to work. Manually request each stream type at a specified rate.
     // Ask for all streams at 4 Hz
     //enableAllDataTransmission(4);
+    txReqTimer = new QTimer(this);
+    connect(txReqTimer,SIGNAL(timeout()),this,SLOT(sendTxRequests()));
+
+    QTimer::singleShot(5000,this,SLOT(sendTxRequests())); //Send an initial TX request in 5 seconds.
+
+    txReqTimer->start(300000); //Resend the TX requests every 5 minutes.
+}
+void ArduPilotMegaMAV::sendTxRequests()
+{
     enableExtendedSystemStatusTransmission(2);
     enablePositionTransmission(3);
     enableExtra1Transmission(10);

src/uas/ArduPilotMegaMAV.h

@@ -40,6 +40,9 @@ public:
 public slots:
     /** @brief Receive a MAVLink message from this MAV */
     void receiveMessage(LinkInterface* link, mavlink_message_t message);
+    void sendTxRequests();
+private:
+    QTimer *txReqTimer;
 };
 
 #endif // ARDUPILOTMAV_H

src/uas/UAS.cc

@@ -2523,6 +2523,15 @@ void UAS::executeCommand(MAV_CMD command)
     mavlink_msg_command_long_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);
     sendMessage(msg);
 }
+void UAS::executeCommandAck(int num, bool success)
+{
+    mavlink_message_t msg;
+    mavlink_command_ack_t ack;
+    ack.command = num;
+    ack.result = (success ? 1 : 0);
+    mavlink_msg_command_ack_encode(mavlink->getSystemId(),mavlink->getComponentId(),&msg,&ack);
+    sendMessage(msg);
+}
 
 void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component)
 {

src/uas/UAS.h

@@ -620,6 +620,8 @@ public slots:
     void executeCommand(MAV_CMD command);
     /** @brief Executes a command with 7 params */
     void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component);
+    /** @brief Executes a command ack, with success boolean **/
+    void executeCommandAck(int num, bool success);
     /** @brief Set the current battery type and voltages */
     void setBatterySpecs(const QString& specs);
     /** @brief Get the current battery type and specs */

src/uas/UASInterface.h

@@ -227,6 +227,8 @@ public slots:
     virtual void executeCommand(MAV_CMD command) = 0;
     /** @brief Executes a command **/
     virtual void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component) = 0;
+    /** @brief Executes a command ack, with success boolean **/
+    virtual void executeCommandAck(int num, bool success) = 0;
 
     /** @brief Selects the airframe */
     virtual void setAirframe(int airframe) = 0;

src/ui/designer/QGCCommandButton.cc

@@ -13,6 +13,9 @@ QGCCommandButton::QGCCommandButton(QWidget *parent) :
 {
     ui->setupUi(this);
 
+    responsecount = 0;
+    responsenum = 0;
+
     connect(ui->commandButton, SIGNAL(clicked()), this, SLOT(sendCommand()));
     connect(ui->editFinishButton, SIGNAL(clicked()), this, SLOT(endEditMode()));
     connect(ui->editButtonName, SIGNAL(textChanged(QString)), this, SLOT(setCommandButtonName(QString)));
@@ -95,6 +98,29 @@ void QGCCommandButton::sendCommand()
 {
     if (QGCToolWidgetItem::uas)
     {
+        if (responsenum != 0)
+        {
+            if (responsecount == 0)
+            {
+                //We're finished. Reset.
+                qDebug() << "Finished sequence";
+                QGCToolWidgetItem::uas->executeCommandAck(responsenum-responsecount,true);
+                responsecount = responsenum;
+                return;
+            }
+            if (responsecount < responsenum)
+            {
+                qDebug() << responsecount << responsenum;
+                QGCToolWidgetItem::uas->executeCommandAck(responsenum-responsecount,true);
+                responsecount--;
+                return;
+            }
+            else
+            {
+                qDebug() << "No sequence yet, sending command";
+                responsecount--;
+            }
+        }
         // Check if command text is a number
         bool ok;
         int index = 0;
@@ -295,6 +321,9 @@ void QGCCommandButton::readSettings(const QString& pre,const QVariantMap& settin
 
     ui->editNameLabel->setText(settings.value(pre + "QGC_COMMAND_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
     ui->nameLabel->setText(settings.value(pre + "QGC_COMMAND_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
+
+    responsenum = settings.value(pre + "QGC_COMMAND_BUTTON_RESPONSE",0).toInt();
+    responsecount = responsenum;
 }
 void QGCCommandButton::readSettings(const QSettings& settings)
 {
@@ -349,4 +378,6 @@ void QGCCommandButton::readSettings(const QSettings& settings)
 
     ui->editNameLabel->setText(settings.value("QGC_COMMAND_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
     ui->nameLabel->setText(settings.value("QGC_COMMAND_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
+    responsenum = settings.value("QGC_COMMAND_BUTTON_RESPONSE",0).toInt();
+    responsecount = responsenum;
 }

src/ui/designer/QGCCommandButton.h

@@ -29,6 +29,8 @@ public slots:
 signals:
     void showLabel(QString name, int num);
 private:
+    int responsenum;
+    int responsecount;
     QString showlabelname;
     Ui::QGCCommandButton *ui;
     UASInterface* uas;