From 80a1f0051483b40b7d07c7e7a067247c18a87368 Mon Sep 17 00:00:00 2001 From: DonLakeFlyer Date: Tue, 1 Oct 2019 14:54:21 -0700 Subject: [PATCH] Update for 4.0 releases --- .../APM/APMTuningComponentCopter.qml | 4 +- src/FirmwarePlugin/APM/APMFirmwarePlugin.cc | 13 +- .../APMParameterFactMetaData.Copter.4.0.xml | 15436 ++++++++++++++++ .../APMParameterFactMetaData.Plane.4.0.xml | 14328 ++++++++++++++ .../APMParameterFactMetaData.Rover.4.0.xml | 13371 +++++++++++++ src/FirmwarePlugin/APM/APMResources.qrc | 3 + .../APM/ArduCopterFirmwarePlugin.cc | 5 + 7 files changed, 43156 insertions(+), 4 deletions(-) create mode 100644 src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.4.0.xml create mode 100644 src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.4.0.xml create mode 100644 src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.4.0.xml diff --git a/src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml b/src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml index 433d77409..ea520346c 100644 --- a/src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml +++ b/src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml @@ -428,7 +428,7 @@ SetupPage { FactTextField { id: tuneMinField validator: DoubleValidator {bottom: 0; top: 32767;} - fact: controller.getParameterFact(-1, "TUNE_LOW") + fact: controller.getParameterFact(-1, "r.TUNE_MAX") } QGCLabel { @@ -440,7 +440,7 @@ SetupPage { FactTextField { id: tuneMaxField validator: DoubleValidator {bottom: 0; top: 32767;} - fact: controller.getParameterFact(-1, "TUNE_HIGH") + fact: controller.getParameterFact(-1, "r.TUNE_MIN") } } } // Column - Channel 6 Tuning option diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc index 91ea25f9a..640bcff64 100644 --- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc +++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc @@ -829,10 +829,13 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle) case MAV_TYPE_TRICOPTER: case MAV_TYPE_COAXIAL: case MAV_TYPE_HELICOPTER: - if (vehicle->versionCompare(3, 7, 0) >= 0) { // 3.7.0 and higher + if (vehicle->versionCompare(4, 0, 0) >= 0) { + return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.4.0.xml"); + } + if (vehicle->versionCompare(3, 7, 0) >= 0) { return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.7.xml"); } - if (vehicle->versionCompare(3, 6, 0) >= 0) { // 3.6.0 and higher + if (vehicle->versionCompare(3, 6, 0) >= 0) { return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.6.xml"); } return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.5.xml"); @@ -845,6 +848,9 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle) case MAV_TYPE_VTOL_RESERVED4: case MAV_TYPE_VTOL_RESERVED5: case MAV_TYPE_FIXED_WING: + if (vehicle->versionCompare(4, 0, 0) >= 0) { + return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.4.0.xml"); + } if (vehicle->versionCompare(3, 10, 0) >= 0) { return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.10.xml"); } @@ -855,6 +861,9 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle) case MAV_TYPE_GROUND_ROVER: case MAV_TYPE_SURFACE_BOAT: + if (vehicle->versionCompare(4, 0, 0) >= 0) { + return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.4.0.xml"); + } if (vehicle->versionCompare(3, 6, 0) >= 0) { return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.6.xml"); } diff --git a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.4.0.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.4.0.xml new file mode 100644 index 000000000..6b7216534 --- /dev/null +++ b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.4.0.xml @@ -0,0 +1,15436 @@ + + + + + + +True + + +1 255 + + + +Mission Planner and DroidPlanner + AP Planner 2 + + + +0 10 +.5 +Hz +hertz + + +0.0 1000.0 +10 +cm +centimeters + + +0:Feedback from mid stick,1:High throttle cancels landing,2:Disarm on land detection + +None +Feedback from mid stick +High throttle cancels landing +Disarm on land detection + + + +0 30 +1 +s +seconds + + +0:Roll,1:Pitch,2:Yaw,3:AccelZ + +None +Roll +Pitch +Yaw +AccelZ + + + +200 8000 +1 +cm +centimeters + + +0.5 10.0 + +Disabled +Shallow +Steep + +.1 + + +0 2000 +50 +cm/s +centimeters per second + + +-1 1000 +1 +cm +centimeters + + +0 3000 +10 +cm +centimeters + + +0 60000 +1000 +ms +milliseconds + + +0.01 2.0 +0.01 + + + +Disabled +Enabled always RTL +Enabled Continue with Mission in Auto Mode +Enabled always SmartRTL or RTL +Enabled always SmartRTL or Land + + + +100 900 + + + +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 + + + + +Never change yaw +Face next waypoint +Face next waypoint except RTL +Face along GPS course + + + +30 200 +10 +cm/s +centimeters per second + + +0 500 +10 +cm/s +centimeters per second + + +50 500 +10 +cm/s +centimeters per second + + +50 500 +10 +cm/s/s +centimeters per square second + + + +Disabled +Enabled always RTL +Enabled Continue with Mission in Auto Mode +Enabled always Land +Enabled always SmartRTL or RTL +Enabled always SmartRTL or Land + + + +925 1100 +1 +PWM +PWM in microseconds + + +0 300 +1 +PWM +PWM in microseconds + + + +Stabilize +Acro +AltHold +Auto +Guided +Loiter +RTL +Circle +Land +Drift +Sport +Flip +AutoTune +PosHold +Brake +Throw +Avoid_ADSB +Guided_NoGPS +Smart_RTL +FlowHold +Follow +ZigZag + + + + +Stabilize +Acro +AltHold +Auto +Guided +Loiter +RTL +Circle +Land +Drift +Sport +Flip +AutoTune +PosHold +Brake +Throw +Avoid_ADSB +Guided_NoGPS +Smart_RTL +FlowHold +Follow +ZigZag + + + + +Stabilize +Acro +AltHold +Auto +Guided +Loiter +RTL +Circle +Land +Drift +Sport +Flip +AutoTune +PosHold +Brake +Throw +Avoid_ADSB +Guided_NoGPS +Smart_RTL +FlowHold +Follow +ZigZag + + + + +Stabilize +Acro +AltHold +Auto +Guided +Loiter +RTL +Circle +Land +Drift +Sport +Flip +AutoTune +PosHold +Brake +Throw +Avoid_ADSB +Guided_NoGPS +Smart_RTL +FlowHold +Follow +ZigZag + + + + +Stabilize +Acro +AltHold +Auto +Guided +Loiter +RTL +Circle +Land +Drift +Sport +Flip +AutoTune +PosHold +Brake +Throw +Avoid_ADSB +Guided_NoGPS +Smart_RTL +FlowHold +Follow +ZigZag + + + + +Stabilize +Acro +AltHold +Auto +Guided +Loiter +RTL +Circle +Land +Drift +Sport +Flip +AutoTune +PosHold +Brake +Throw +Avoid_ADSB +Guided_NoGPS +Smart_RTL +FlowHold +Follow +ZigZag + + + + +Disabled +Channel5 +Channel6 +Channel7 +Channel8 + + + + + +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,17:MOTBATT,18:IMU_FAST,19:IMU_RAW + +Default +Default+RCIN +Default+IMU +Default+Motors +NearlyAll-AC315 +NearlyAll +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 +Start-up and automatically calibrate ESCs +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 +Rate Yaw Filter +Motor Yaw Headroom +AltHold kP +Throttle Rate kP +Throttle Accel kP +Throttle Accel kI +Throttle Accel kD +Loiter Pos kP +Velocity XY kP +Velocity XY kI +WP Speed +Acro RollPitch kP +Acro Yaw kP +RC Feel +Heli Ext Gyro +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 +Winch + + + + +Plus +X +V +H +V-Tail +A-Tail +Y6B +Y6F +BetaFlightX +DJIX +ClockwiseX + I + +True + + +0 127 +s +seconds + + +1000 8000 +cdeg +centidegrees + + +4 12 +deg/s +degrees per second + + +2000 4500 +cdeg +centidegrees + + + +No repositioning +Repositioning + + + + +Land +AltHold +Land even in Stabilize + + + +0.6:Strict, 0.8:Default, 1.0:Relaxed + + + +Disabled +Enabled + + + +50 490 +1 +Hz +hertz + + +1 10 + + +1 10 + + +0 3 +0.1 + + +0 3 +0.1 + + + +Disabled +Leveling +Leveling and Limited + + + +-0.5 1.0 + +Disabled +Very Low +Low +Medium +High +Very High + + + + +Stopped +Running + + + + +Do Not Use in RTL and Land +Use in RTL and Land + + + +0 5 + + + +Auto +Guided +LOITER +RTL +Land +Brake +Throw + + + + +Upward Throw +Drop + + + + +Disabled +Enabled + + + +0:ADSBMavlinkProcessing,1:DevOptionVFR_HUDRelativeAlt + + +-0.5 1.0 + +Disabled +Very Low +Low +Medium +High +Very High + + + +0 1 + + + +NotEnforced +Enforced + + + + +Undefined +Quad +Hexa +Octa +OctaQuad +Y6 +Heli +Tri +SingleCopter +CoaxCopter +BiCopter +Heli_Dual +DodecaHexa +HeliQuad + +True + + +50 500 +10 +cm/s +centimeters per second + + +100 10000 +10 +cm +centimeters + + + + + + + +Do Nothing +Flip +Simple Mode +RTL +Save Trim +Save WP +Camera Trigger +RangeFinder +Fence +Super Simple Mode +Acro Trainer +Sprayer +Auto +AutoTune +Land +Gripper +Parachute Enable +Parachute Release +Parachute 3pos +Auto Mission Reset +AttCon Feed Forward +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 +ADSB-Avoidance +PrecLoiter +Object Avoidance +ArmDisarm +SmartRTL +InvertedFlight +Winch Enable +WinchControl + + + + +Do Nothing +Flip +Simple Mode +RTL +Save Trim +Save WP +Camera Trigger +RangeFinder +Fence +Super Simple Mode +Acro Trainer +Sprayer +Auto +AutoTune +Land +Gripper +Parachute Enable +Parachute Release +Parachute 3pos +Auto Mission Reset +AttCon Feed Forward +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 +ADSB-Avoidance +PrecLoiter +Object Avoidance +ArmDisarm +SmartRTL +InvertedFlight +Winch Enable +WinchControl + + + + +Do Nothing +Flip +Simple Mode +RTL +Save Trim +Save WP +Camera Trigger +RangeFinder +Fence +Super Simple Mode +Acro Trainer +Sprayer +Auto +AutoTune +Land +Gripper +Parachute Enable +Parachute Release +Parachute 3pos +Auto Mission Reset +AttCon Feed Forward +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 +ADSB-Avoidance +PrecLoiter +Object Avoidance +ArmDisarm +SmartRTL +InvertedFlight +Winch Enable +WinchControl + + + + +Do Nothing +Flip +Simple Mode +RTL +Save Trim +Save WP +Camera Trigger +RangeFinder +Fence +Super Simple Mode +Acro Trainer +Sprayer +Auto +AutoTune +Land +Gripper +Parachute Enable +Parachute Release +Parachute 3pos +Auto Mission Reset +AttCon Feed Forward +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 +ADSB-Avoidance +PrecLoiter +Object Avoidance +ArmDisarm +SmartRTL +InvertedFlight +Winch Enable +WinchControl + + + + +Do Nothing +Flip +Simple Mode +RTL +Save Trim +Save WP +Camera Trigger +RangeFinder +Fence +Super Simple Mode +Acro Trainer +Sprayer +Auto +AutoTune +Land +Gripper +Parachute Enable +Parachute Release +Parachute 3pos +Auto Mission Reset +AttCon Feed 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+ +0.010 1.0 +0.01 + + +0 1 +0.01 +% +percent + + +0.000 0.02 +0.001 + + +0 0.5 +0.001 + + +1 5 +1 +Hz +hertz + + +1 10 +1 +Hz +hertz + + +1 20 +1 +Hz +hertz + + +0.1 0.25 + + +0.5 0.9 + + +0.1 0.9 + + +1 100 +1 +Hz +hertz + + +1 100 +1 +Hz +hertz + + +1 10 +1 +Hz +hertz + + +0 1000 +cdeg +centidegrees + + +0.08 0.35 +0.005 + + +0.01 0.6 +0.01 + + +0 1 +0.01 + + +0.001 0.03 +0.001 + + +0 0.5 +0.001 + + +1 20 +1 +Hz +hertz + + +0.08 0.35 +0.005 + + +0.01 0.6 +0.01 + + +0 1 +0.01 + + +0.001 0.03 +0.001 + + +0 0.5 +0.001 + + +1 20 +1 +Hz +hertz + + +0.180 0.60 +0.005 + + +0.01 0.06 +0.01 + + +0 1 +0.01 + + +0.000 0.02 +0.001 + + +0 0.5 +0.001 + + +1 20 +1 +Hz +hertz + + + +Disabled +Enabled + + + + + +0:Roll,1:Pitch,2:Yaw + +All +Roll Only +Pitch Only +Yaw Only +Roll and Pitch +Roll and Yaw +Pitch and Yaw + + + +0.05 0.10 + + +0.001 0.006 + + + + + +Disabled +Enabled + + + + +Remain in AVOID_ADSB +Resume previous flight mode +RTL +Resume if AUTO else Loiter + + + + + +s +seconds + + +s 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+ + +1.000 100.000 +Hz +hertz + + +0.100 2.000 + + +0.100 2.000 + + +0.000 2.000 + + +0.000 1.000 + + +0.000 0.400 + + +1.000 100.000 +Hz +hertz + + + diff --git a/src/FirmwarePlugin/APM/APMResources.qrc b/src/FirmwarePlugin/APM/APMResources.qrc index ce35b1004..93d6b3f72 100644 --- a/src/FirmwarePlugin/APM/APMResources.qrc +++ b/src/FirmwarePlugin/APM/APMResources.qrc @@ -45,12 +45,15 @@ APMParameterFactMetaData.Plane.3.8.xml APMParameterFactMetaData.Plane.3.9.xml APMParameterFactMetaData.Plane.3.10.xml + APMParameterFactMetaData.Plane.4.0.xml APMParameterFactMetaData.Copter.3.5.xml APMParameterFactMetaData.Copter.3.6.xml APMParameterFactMetaData.Copter.3.7.xml + APMParameterFactMetaData.Copter.4.0.xml APMParameterFactMetaData.Rover.3.4.xml APMParameterFactMetaData.Rover.3.5.xml APMParameterFactMetaData.Rover.3.6.xml + APMParameterFactMetaData.Rover.4.0.xml APMParameterFactMetaData.Sub.3.4.xml APMParameterFactMetaData.Sub.3.5.xml APMParameterFactMetaData.Sub.3.6dev.xml diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc index 378bae181..e0cf4525e 100644 --- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc +++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc @@ -97,6 +97,11 @@ ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(void) remapV3_7["RC11_OPTION"] = QStringLiteral("CH11_OPT"); remapV3_7["RC12_OPTION"] = QStringLiteral("CH12_OPT"); + FirmwarePlugin::remapParamNameMap_t& remapV4_0 = _remapParamName[4][0]; + + remapV4_0["TUNE_MIN"] = QStringLiteral("TUNE_HIGH"); + remapV3_7["TUNE_MAX"] = QStringLiteral("TUNE_LOW"); + _remapParamNameIntialized = true; } } -- 2.22.0