Merge pull request #6562 from DonLakeFlyer/HeliSetup

ArduCopter: Initial Heli Setup page

qgroundcontrol.pro

@@ -948,6 +948,7 @@ APMFirmwarePlugin {
         src/AutoPilotPlugins/APM/APMCompassCal.h \
         src/AutoPilotPlugins/APM/APMFlightModesComponent.h \
         src/AutoPilotPlugins/APM/APMFlightModesComponentController.h \
+        src/AutoPilotPlugins/APM/APMHeliComponent.h \
         src/AutoPilotPlugins/APM/APMLightsComponent.h \
         src/AutoPilotPlugins/APM/APMSubFrameComponent.h \
         src/AutoPilotPlugins/APM/APMPowerComponent.h \
@@ -973,6 +974,7 @@ APMFirmwarePlugin {
         src/AutoPilotPlugins/APM/APMCompassCal.cc \
         src/AutoPilotPlugins/APM/APMFlightModesComponent.cc \
         src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc \
+        src/AutoPilotPlugins/APM/APMHeliComponent.cc \
         src/AutoPilotPlugins/APM/APMLightsComponent.cc \
         src/AutoPilotPlugins/APM/APMSubFrameComponent.cc \
         src/AutoPilotPlugins/APM/APMPowerComponent.cc \

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -28,27 +28,29 @@
 #include "APMLightsComponent.h"
 #include "APMSubFrameComponent.h"
 #include "ESP8266Component.h"
+#include "APMHeliComponent.h"
 
 /// This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_ARDUPILOT type.
 APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent)
-    : AutoPilotPlugin(vehicle, parent)
+    : AutoPilotPlugin           (vehicle, parent)
     , _incorrectParameterVersion(false)
-    , _airframeComponent(NULL)
-    , _cameraComponent(NULL)
-    , _lightsComponent(NULL)
-    , _subFrameComponent(NULL)
-    , _flightModesComponent(NULL)
-    , _powerComponent(NULL)
+    , _airframeComponent        (NULL)
+    , _cameraComponent          (NULL)
+    , _lightsComponent          (NULL)
+    , _subFrameComponent        (NULL)
+    , _flightModesComponent     (NULL)
+    , _powerComponent           (NULL)
 #if 0
         // Temporarily removed, waiting for new command implementation
-    , _motorComponent(NULL)
+    , _motorComponent           (NULL)
 #endif
-    , _radioComponent(NULL)
-    , _safetyComponent(NULL)
-    , _sensorsComponent(NULL)
-    , _tuningComponent(NULL)
-    , _airframeFacts(new APMAirframeLoader(this, vehicle->uas(), this))
-    , _esp8266Component(NULL)
+    , _radioComponent           (NULL)
+    , _safetyComponent          (NULL)
+    , _sensorsComponent         (NULL)
+    , _tuningComponent          (NULL)
+    , _airframeFacts            (new APMAirframeLoader(this, vehicle->uas(), this))
+    , _esp8266Component         (NULL)
+    , _heliComponent            (NULL)
 {
     APMAirframeLoader::loadAirframeFactMetaData();
 }
@@ -101,6 +103,12 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
             _safetyComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent));
 
+            if (_vehicle->vehicleType() == MAV_TYPE_HELICOPTER) {
+                _heliComponent = new APMHeliComponent(_vehicle, this);
+                _heliComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_heliComponent));
+            }
+
             _tuningComponent = new APMTuningComponent(_vehicle, this);
             _tuningComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_tuningComponent));

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h

@@ -27,6 +27,7 @@ class APMCameraComponent;
 class APMLightsComponent;
 class APMSubFrameComponent;
 class ESP8266Component;
+class APMHeliComponent;
 
 /// This is the APM specific implementation of the AutoPilot class.
 class APMAutoPilotPlugin : public AutoPilotPlugin
@@ -59,6 +60,7 @@ protected:
     APMTuningComponent*         _tuningComponent;
     APMAirframeLoader*          _airframeFacts;
     ESP8266Component*           _esp8266Component;
+    APMHeliComponent*           _heliComponent;
 
 private:
     QVariantList                _components;

src/AutoPilotPlugins/APM/APMHeliComponent.cc

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "APMHeliComponent.h"
+#include "APMAutoPilotPlugin.h"
+
+APMHeliComponent::APMHeliComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
+    : VehicleComponent(vehicle, autopilot, parent)
+    , _name(tr("Heli"))
+{
+}
+
+QString APMHeliComponent::name(void) const
+{
+    return _name;
+}
+
+QString APMHeliComponent::description(void) const
+{
+    return tr("Heli Setup is used to setup parameters which are specific to a helicopter.");
+}
+
+QString APMHeliComponent::iconResource(void) const
+{
+    return QString();
+}
+
+bool APMHeliComponent::requiresSetup(void) const
+{
+    return false;
+}
+
+bool APMHeliComponent::setupComplete(void) const
+{
+    return true;
+}
+
+QStringList APMHeliComponent::setupCompleteChangedTriggerList(void) const
+{
+    return QStringList();
+}
+
+QUrl APMHeliComponent::setupSource(void) const
+{
+    return QStringLiteral("qrc:/qml/APMHeliComponent.qml");
+}
+
+QUrl APMHeliComponent::summaryQmlSource(void) const
+{
+    return QUrl();
+}

src/AutoPilotPlugins/APM/APMHeliComponent.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "VehicleComponent.h"
+
+class APMHeliComponent : public VehicleComponent
+{
+    Q_OBJECT
+    
+public:
+    APMHeliComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    
+    // Virtuals from VehicleComponent
+    QStringList setupCompleteChangedTriggerList(void) const override;
+    
+    // Virtuals from VehicleComponent
+    QString name(void) const override;
+    QString description(void) const override;
+    QString iconResource(void) const override;
+    bool requiresSetup(void) const override;
+    bool setupComplete(void) const override;
+    QUrl setupSource(void) const override;
+    QUrl summaryQmlSource(void) const override;
+    bool allowSetupWhileArmed(void) const override { return true; }
+
+private:
+    const QString   _name;
+    QVariantList    _summaryItems;
+};

src/AutoPilotPlugins/APM/APMHeliComponent.qml

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+
+import QtQuick              2.3
+import QtQuick.Controls     1.2
+import QtGraphicalEffects   1.0
+import QtQuick.Layouts      1.2
+
+import QGroundControl.FactSystem    1.0
+import QGroundControl.FactControls  1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.ScreenTools   1.0
+
+SetupPage {
+    id:             safetyPage
+    pageComponent:  safetyPageComponent
+
+    Component {
+        id: safetyPageComponent
+
+        Flow {
+            id:         flowLayout
+            width:      availableWidth
+            spacing:    _margins
+
+            FactPanelController { id: controller; factPanel: safetyPage.viewPanel }
+
+            QGCPalette { id: ggcPal; colorGroupEnabled: true }
+
+            property Fact _failsafeGCSEnable:               controller.getParameterFact(-1, "FS_GCS_ENABLE")
+            property Fact _failsafeBattLowAct:              controller.getParameterFact(-1, "r.BATT_FS_LOW_ACT")
+            property Fact _failsafeBattMah:                 controller.getParameterFact(-1, "r.BATT_LOW_MAH")
+            property Fact _failsafeBattVoltage:             controller.getParameterFact(-1, "r.BATT_LOW_VOLT")
+            property Fact _failsafeThrEnable:               controller.getParameterFact(-1, "FS_THR_ENABLE")
+            property Fact _failsafeThrValue:                controller.getParameterFact(-1, "FS_THR_VALUE")
+
+            property bool _failsafeBattCritActAvailable:    controller.parameterExists(-1, "BATT_FS_CRT_ACT")
+            property bool _failsafeBatt2LowActAvailable:    controller.parameterExists(-1, "BATT2_FS_LOW_ACT")
+            property bool _failsafeBatt2CritActAvailable:   controller.parameterExists(-1, "BATT2_FS_CRT_ACT")
+            property bool _batt2MonitorAvailable:           controller.parameterExists(-1, "BATT2_MONITOR")
+            property bool _batt2MonitorEnabled:             _batt2MonitorAvailable ? _batt2Monitor.rawValue !== 0 : false
+
+            property Fact _failsafeBattCritAct:             controller.getParameterFact(-1, "BATT_FS_CRT_ACT", false /* reportMissing */)
+            property Fact _batt2Monitor:                    controller.getParameterFact(-1, "BATT2_MONITOR", false /* reportMissing */)
+            property Fact _failsafeBatt2LowAct:             controller.getParameterFact(-1, "BATT2_FS_LOW_ACT", false /* reportMissing */)
+            property Fact _failsafeBatt2CritAct:            controller.getParameterFact(-1, "BATT2_FS_CRT_ACT", false /* reportMissing */)
+            property Fact _failsafeBatt2Mah:                controller.getParameterFact(-1, "BATT2_LOW_MAH", false /* reportMissing */)
+            property Fact _failsafeBatt2Voltage:            controller.getParameterFact(-1, "BATT2_LOW_VOLT", false /* reportMissing */)
+
+            property Fact _fenceAction: controller.getParameterFact(-1, "FENCE_ACTION")
+            property Fact _fenceAltMax: controller.getParameterFact(-1, "FENCE_ALT_MAX")
+            property Fact _fenceEnable: controller.getParameterFact(-1, "FENCE_ENABLE")
+            property Fact _fenceMargin: controller.getParameterFact(-1, "FENCE_MARGIN")
+            property Fact _fenceRadius: controller.getParameterFact(-1, "FENCE_RADIUS")
+            property Fact _fenceType:   controller.getParameterFact(-1, "FENCE_TYPE")
+
+            property Fact _landSpeedFact:   controller.getParameterFact(-1, "LAND_SPEED")
+            property Fact _rtlAltFact:      controller.getParameterFact(-1, "RTL_ALT")
+            property Fact _rtlLoitTimeFact: controller.getParameterFact(-1, "RTL_LOIT_TIME")
+            property Fact _rtlAltFinalFact: controller.getParameterFact(-1, "RTL_ALT_FINAL")
+
+            property Fact _armingCheck: controller.getParameterFact(-1, "ARMING_CHECK")
+
+            property real _margins:     ScreenTools.defaultFontPixelHeight
+            property bool _showIcon:    !ScreenTools.isTinyScreen
+
+            ExclusiveGroup { id: fenceActionRadioGroup }
+            ExclusiveGroup { id: landLoiterRadioGroup }
+            ExclusiveGroup { id: returnAltRadioGroup }
+
+            Column {
+                spacing: _margins / 2
+
+                QGCLabel {
+                    text:       qsTr("Servo Setup")
+                    font.family: ScreenTools.demiboldFontFamily
+                }
+
+                Rectangle {
+                    width:  servoGrid.x + servoGrid.width + _margins
+                    height: servoGrid.y + servoGrid.height + _margins
+                    color:  ggcPal.windowShade
+
+                    GridLayout {
+                        id:         servoGrid
+                        columns:    6
+
+                        QGCLabel { text: qsTr("Servo") }
+                        QGCLabel { text: qsTr("Function") }
+                        QGCLabel { text: qsTr("Min") }
+                        QGCLabel { text: qsTr("Max") }
+                        QGCLabel { text: qsTr("Trim") }
+                        QGCLabel { text: qsTr("Reversed") }
+
+                        QGCLabel { text: qsTr("1") }
+                        FactComboBox {
+                            fact:               controller.getParameterFact(-1, "SERVO1_FUNCTION")
+                            indexModel:         false
+                            Layout.fillWidth:   true
+                        }
+                        FactTextField {
+                            fact:               controller.getParameterFact(-1, "SERVO1_MIN")
+                            Layout.fillWidth:   true
+                        }
+                        FactTextField {
+                            fact:               controller.getParameterFact(-1, "SERVO1_MAX")
+                            Layout.fillWidth:   true
+                        }
+                        FactTextField {
+                            fact:               controller.getParameterFact(-1, "SERVO1_TRIM")
+                            Layout.fillWidth:   true
+                        }
+                        FactCheckBox {
+                            fact:               controller.getParameterFact(-1, "SERVO1_REVERSED")
+                            Layout.fillWidth:   true
+                        }
+
+                        QGCLabel { text: qsTr("2") }
+                        FactComboBox {
+                            fact:               controller.getParameterFact(-1, "SERVO2_FUNCTION")
+                            indexModel:         false
+                            Layout.fillWidth:   true
+                        }
+                        FactTextField {
+                            fact:               controller.getParameterFact(-1, "SERVO2_MIN")
+                            Layout.fillWidth:   true
+                        }
+                        FactTextField {
+                            fact:               controller.getParameterFact(-1, "SERVO2_MAX")
+                            Layout.fillWidth:   true
+                        }
+                        FactTextField {
+                            fact:               controller.getParameterFact(-1, "SERVO2_TRIM")
+                            Layout.fillWidth:   true
+                        }
+                        FactCheckBox {
+                            fact:               controller.getParameterFact(-1, "SERVO2_REVERSED")
+                            Layout.fillWidth:   true
+                        }
+
+                        QGCLabel { text: qsTr("3") }
+                        FactComboBox {
+                            fact:               controller.getParameterFact(-1, "SERVO3_FUNCTION")
+                            indexModel:         false
+                            Layout.fillWidth:   true
+                        }
+                        FactTextField {
+                            fact:               controller.getParameterFact(-1, "SERVO3_MIN")
+                            Layout.fillWidth:   true
+                        }
+                        FactTextField {
+                            fact:               controller.getParameterFact(-1, "SERVO3_MAX")
+                            Layout.fillWidth:   true
+                        }
+                        FactTextField {
+                            fact:               controller.getParameterFact(-1, "SERVO3_TRIM")
+                            Layout.fillWidth:   true
+                        }
+                        FactCheckBox {
+                            fact:               controller.getParameterFact(-1, "SERVO3_REVERSED")
+                            Layout.fillWidth:   true
+                        }
+
+                        QGCLabel { text: qsTr("4") }
+                        FactComboBox {
+                            fact:               controller.getParameterFact(-1, "SERVO4_FUNCTION")
+                            indexModel:         false
+                            Layout.fillWidth:   true
+                        }
+                        FactTextField {
+                            fact:               controller.getParameterFact(-1, "SERVO4_MIN")
+                            Layout.fillWidth:   true
+                        }
+                        FactTextField {
+                            fact:               controller.getParameterFact(-1, "SERVO4_MAX")
+                            Layout.fillWidth:   true
+                        }
+                        FactTextField {
+                            fact:               controller.getParameterFact(-1, "SERVO4_TRIM")
+                            Layout.fillWidth:   true
+                        }
+                        FactCheckBox {
+                            fact:               controller.getParameterFact(-1, "SERVO4_REVERSED")
+                            Layout.fillWidth:   true
+                        }
+                    } // GridLayout
+                } // Rectangle
+            } // Column
+        } // Flow
+    } // Component
+} // SetupView

src/FactSystem/FactControls/FactCheckBox.qml

@@ -16,7 +16,5 @@ QGCCheckBox {
                            (fact.value === 0 ? Qt.Unchecked : Qt.Checked)) :
                       Qt.Unchecked
 
-    text: qsTr("Label")
-
     onClicked: fact.value = (checked ? checkedValue : uncheckedValue)
 }

src/FirmwarePlugin/APM/APMResources.qrc

@@ -6,6 +6,7 @@
         <file alias="APMCameraComponentSummary.qml">../../AutoPilotPlugins/APM/APMCameraComponentSummary.qml</file>
         <file alias="APMFlightModesComponent.qml">../../AutoPilotPlugins/APM/APMFlightModesComponent.qml</file>
         <file alias="APMFlightModesComponentSummary.qml">../../AutoPilotPlugins/APM/APMFlightModesComponentSummary.qml</file>
+        <file alias="APMHeliComponent.qml">../../AutoPilotPlugins/APM/APMHeliComponent.qml</file>
         <file alias="APMLightsComponent.qml">../../AutoPilotPlugins/APM/APMLightsComponent.qml</file>
         <file alias="APMLightsComponentSummary.qml">../../AutoPilotPlugins/APM/APMLightsComponentSummary.qml</file>
         <file alias="APMSubFrameComponent.qml">../../AutoPilotPlugins/APM/APMSubFrameComponent.qml</file>