Skip to content

Q
qgroundcontrol
Unverified Commit 93e9f597 authored by Don Gagne's avatar Don Gagne Committed by GitHub
Browse files
Options

Merge pull request #8236 from Williangalvani/motorcontroller 

Support automatic Thruster direction detection in Ardusub
parents 72d2cce4 fcdb99df
Hide whitespace changes
Inline Side-by-side
Showing with 150 additions and 9 deletions
qgroundcontrol.pro
View file @ 93e9f597
......@@ -1027,6 +1027,7 @@ APMFirmwarePlugin {
src/AutoPilotPlugins/APM/APMSafetyComponent.h \
src/AutoPilotPlugins/APM/APMSensorsComponent.h \
src/AutoPilotPlugins/APM/APMSensorsComponentController.h \
src/AutoPilotPlugins/APM/APMSubMotorComponentController.h \
src/AutoPilotPlugins/APM/APMTuningComponent.h \
src/FirmwarePlugin/APM/APMFirmwarePlugin.h \
src/FirmwarePlugin/APM/APMParameterMetaData.h \
......@@ -1054,6 +1055,7 @@ APMFirmwarePlugin {
src/AutoPilotPlugins/APM/APMSafetyComponent.cc \
src/AutoPilotPlugins/APM/APMSensorsComponent.cc \
src/AutoPilotPlugins/APM/APMSensorsComponentController.cc \
src/AutoPilotPlugins/APM/APMSubMotorComponentController.cc \
src/AutoPilotPlugins/APM/APMTuningComponent.cc \
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc \
src/FirmwarePlugin/APM/APMParameterMetaData.cc \
......
src/AutoPilotPlugins/APM/APMMotorComponent.cc
View file @ 93e9f597
......@@ -8,6 +8,7 @@
****************************************************************************/
#include "APMMotorComponent.h"
#include "APMSubMotorComponentController.h"
APMMotorComponent::APMMotorComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
MotorComponent(vehicle, autopilot, parent),
......
src/AutoPilotPlugins/APM/APMSubMotorComponent.qml
View file @ 93e9f597
......@@ -15,6 +15,7 @@ import QGroundControl 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controllers 1.0
SetupPage {
id: motorPage
......@@ -27,8 +28,9 @@ SetupPage {
property int neutralValue: 50;
property int _lastIndex: 0;
property bool canDoManualTest: controller.vehicle.flightMode !== 'Motor Detection' && controller.vehicle.armed && motorPage.visible
FactPanelController {
APMSubMotorComponentController {
id: controller
}
......@@ -47,7 +49,7 @@ SetupPage {
Row {
id: motorSliders
enabled: controller.vehicle.armed
enabled: canDoManualTest
spacing: ScreenTools.defaultFontPixelWidth * 4
Column {
......@@ -199,22 +201,84 @@ SetupPage {
QGCLabel {
anchors.verticalCenter: safetySwitch.verticalCenter
color: qgcPal.warningText
text: qsTr("Slide this switch to arm the vehicle and enable the motor test (CAUTION!)")
text: coolDownTimer.running
? qsTr("A 10 second coooldown is required before testing again, please stand by...")
: qsTr("Slide this switch to arm the vehicle and enable the motor test (CAUTION!)")
}
} // Row
QGCLabel {
visible: controller.vehicle.versionCompare(4, 0, 0) >= 0
width: parent.width
anchors.left: parent.left
anchors.right: parent.right
font.pointSize: ScreenTools.largeFontPointSize
text: qsTr("Automatic Motor Direction Detection")
}
QGCLabel {
visible: controller.vehicle.versionCompare(4, 0, 0) >= 0
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
text: qsTr("This will attempt to automatically detect the direction (normal/reversed) of your thrusters.\n"
+ "Please place your vehicle in water, click the button, and wait. Note that the thrusters still need "
+ "to be connected to the correct outputs (thrusters 2 and 3 can't be swapped, for example).")
}
Row {
QGCLabel {
id: cooldownLabel
visible: coolDownTimer.running
color: qgcPal.warningText
text: qsTr("A 10 second coooldown is required before testing again, please stand by...")
visible: controller.vehicle.versionCompare(4, 0, 0) >= 0
spacing: ScreenTools.defaultFontPixelWidth
Column {
spacing: ScreenTools.defaultFontPixelWidth * 2
QGCButton {
id: startAutoDetection
text: "Auto-Detect Directions"
enabled: controller.vehicle.flightMode !== 'Motor Detection'
onClicked: function() {
controller.vehicle.flightMode = "Motor Detection"
controller.vehicle.armed = true
}
}
}
Column {
spacing: ScreenTools.defaultFontPixelWidth * 2
Flickable {
id: flickable
width: 500
height: Math.min(contentHeight, 200)
contentWidth: width
contentHeight: textArea.implicitHeight
clip: true
TextArea {
id: textArea
anchors.fill: parent
color: qgcPal.text
text: controller.motorDetectionMessages
wrapMode: Text.WordWrap
background: Rectangle {
color: qgcPal.window
}
onTextChanged: function() {
flickable.flick(0, -300)
}
}
ScrollBar.vertical: ScrollBar {}
}
}
}
// Repeats the command signal and updates the checkbox every 50 ms
Timer {
id: timer
interval: 50
repeat: true
running: canDoManualTest
onTriggered: {
if (controller.vehicle.armed) {
......
src/AutoPilotPlugins/APM/APMSubMotorComponentController.cc 0 → 100644
View file @ 93e9f597
/****************************************************************************
*
* (c) 2009-2020 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 "APMSubMotorComponentController.h"
#include "ParameterManager.h"
APMSubMotorComponentController::APMSubMotorComponentController(void)
{
connect(_vehicle, &Vehicle::textMessageReceived, this, &APMSubMotorComponentController::handleNewMessages);
}
void APMSubMotorComponentController::handleNewMessages(int uasid, int componentid, int severity, QString text)
{
Q_UNUSED(uasid);
Q_UNUSED(componentid);
Q_UNUSED(severity);
if (_vehicle->flightMode() == "Motor Detection"
&& (text.toLower().contains("thruster") || text.toLower().contains("motor"))) {
_motorDetectionMessages += text + QStringLiteral("\n");
emit motorDetectionMessagesChanged();
}
}
src/AutoPilotPlugins/APM/APMSubMotorComponentController.h 0 → 100644
View file @ 93e9f597
/****************************************************************************
*
* (c) 2009-2020 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.
*
****************************************************************************/
#ifndef APMSubMotorComponentController_H
#define APMSubMotorComponentController_H
#include <QObject>
#include "FactPanelController.h"
#include "Vehicle.h"
/// MVC Controller for APMSubMotorComponent.qml.
class APMSubMotorComponentController : public FactPanelController
{
Q_OBJECT
public:
APMSubMotorComponentController(void);
Q_PROPERTY(QString motorDetectionMessages READ motorDetectionMessages NOTIFY motorDetectionMessagesChanged);
QString motorDetectionMessages() const {return _motorDetectionMessages;};
signals:
void motorDetectionMessagesChanged();
private slots:
void handleNewMessages(int uasid, int componentid, int severity, QString text);
private:
QString _motorDetectionMessages;
};
#endif
src/AutoPilotPlugins/CMakeLists.txt
View file @ 93e9f597
......@@ -22,6 +22,7 @@ add_library(AutoPilotPlugins
APM/APMSensorsComponent.cc
APM/APMSensorsComponentController.cc
APM/APMSubFrameComponent.cc
APM/APMSubMotorComponentController.cc
APM/APMTuningComponent.cc
Common/ESP8266Component.cc
......
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
View file @ 93e9f597
......@@ -15,6 +15,7 @@
#include "APMAirframeComponentController.h"
#include "APMSensorsComponentController.h"
#include "APMFollowComponentController.h"
#include "APMSubMotorComponentController.h"
#include "MissionManager.h"
#include "ParameterManager.h"
#include "QGCFileDownload.h"
......@@ -160,6 +161,7 @@ APMFirmwarePlugin::APMFirmwarePlugin(void)
qmlRegisterType<APMAirframeComponentController> ("QGroundControl.Controllers", 1, 0, "APMAirframeComponentController");
qmlRegisterType<APMSensorsComponentController> ("QGroundControl.Controllers", 1, 0, "APMSensorsComponentController");
qmlRegisterType<APMFollowComponentController> ("QGroundControl.Controllers", 1, 0, "APMFollowComponentController");
qmlRegisterType<APMSubMotorComponentController> ("QGroundControl.Controllers", 1, 0, "APMSubMotorComponentController");
}
AutoPilotPlugin* APMFirmwarePlugin::autopilotPlugin(Vehicle* vehicle)
......
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
View file @ 93e9f597
......@@ -42,6 +42,7 @@ APMSubMode::APMSubMode(uint32_t mode, bool settable) :
{CIRCLE, "Circle"},
{SURFACE, "Surface"},
{POSHOLD, "Position Hold"},
{MOTORDETECTION, "Motor Detection"},
});
}
......@@ -58,6 +59,7 @@ ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void):
APMSubMode(APMSubMode::CIRCLE ,true),
APMSubMode(APMSubMode::SURFACE ,false),
APMSubMode(APMSubMode::POSHOLD ,true),
APMSubMode(APMSubMode::MOTORDETECTION, false),
});
if (!_remapParamNameIntialized) {
......
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
View file @ 93e9f597
......@@ -94,7 +94,8 @@ public:
POSHOLD = 16, // Hold position
RESERVED_17 = 17,
RESERVED_18 = 18,
MANUAL = 19
MANUAL = 19,
MOTORDETECTION = 20,
};
APMSubMode(uint32_t mode, bool settable);
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment