Commit 9fa408e4 authored by Gus Grubba's avatar Gus Grubba

Initial support for PX4 rover vehicle.

parent 083dcf0a
...@@ -50,6 +50,11 @@ FirmwarePluginFactoryRegister* FirmwarePluginFactoryRegister::instance(void) ...@@ -50,6 +50,11 @@ FirmwarePluginFactoryRegister* FirmwarePluginFactoryRegister::instance(void)
return _instance; return _instance;
} }
FirmwarePlugin::FirmwarePlugin(MAV_TYPE vehicleType)
{
_vehicleType = vehicleType;
}
AutoPilotPlugin* FirmwarePlugin::autopilotPlugin(Vehicle* vehicle) AutoPilotPlugin* FirmwarePlugin::autopilotPlugin(Vehicle* vehicle)
{ {
return new GenericAutoPilotPlugin(vehicle, vehicle); return new GenericAutoPilotPlugin(vehicle, vehicle);
......
...@@ -49,6 +49,8 @@ public: ...@@ -49,6 +49,8 @@ public:
TakeoffVehicleCapability = 1 << 4, ///< Vehicle supports guided takeoff TakeoffVehicleCapability = 1 << 4, ///< Vehicle supports guided takeoff
} FirmwareCapabilities; } FirmwareCapabilities;
FirmwarePlugin(MAV_TYPE vehicleType = MAV_TYPE_GENERIC);
/// Maps from on parameter name to another /// Maps from on parameter name to another
/// key: parameter name to translate from /// key: parameter name to translate from
/// value: mapped parameter name /// value: mapped parameter name
...@@ -344,6 +346,9 @@ protected: ...@@ -344,6 +346,9 @@ protected:
// Returns regex QString to extract version information from text // Returns regex QString to extract version information from text
virtual QString _versionRegex() { return QString(); } virtual QString _versionRegex() { return QString(); }
protected:
MAV_TYPE _vehicleType = MAV_TYPE_GENERIC;
private: private:
QVariantList _toolBarIndicatorList; QVariantList _toolBarIndicatorList;
static QVariantList _cameraList; ///< Standard QGC camera list static QVariantList _cameraList; ///< Standard QGC camera list
......
...@@ -35,8 +35,9 @@ PX4FirmwarePluginInstanceData::PX4FirmwarePluginInstanceData(QObject* parent) ...@@ -35,8 +35,9 @@ PX4FirmwarePluginInstanceData::PX4FirmwarePluginInstanceData(QObject* parent)
} }
PX4FirmwarePlugin::PX4FirmwarePlugin(void) PX4FirmwarePlugin::PX4FirmwarePlugin(MAV_TYPE vehicleType)
: _manualFlightMode (tr("Manual")) : FirmwarePlugin(vehicleType)
, _manualFlightMode (tr("Manual"))
, _acroFlightMode (tr("Acro")) , _acroFlightMode (tr("Acro"))
, _stabilizedFlightMode (tr("Stabilized")) , _stabilizedFlightMode (tr("Stabilized"))
, _rattitudeFlightMode (tr("Rattitude")) , _rattitudeFlightMode (tr("Rattitude"))
...@@ -257,7 +258,7 @@ FactMetaData* PX4FirmwarePlugin::getMetaDataForFact(QObject* parameterMetaData, ...@@ -257,7 +258,7 @@ FactMetaData* PX4FirmwarePlugin::getMetaDataForFact(QObject* parameterMetaData,
qWarning() << "Internal error: pointer passed to PX4FirmwarePlugin::getMetaDataForFact not PX4ParameterMetaData"; qWarning() << "Internal error: pointer passed to PX4FirmwarePlugin::getMetaDataForFact not PX4ParameterMetaData";
} }
return NULL; return nullptr;
} }
void PX4FirmwarePlugin::addMetaDataToFact(QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) void PX4FirmwarePlugin::addMetaDataToFact(QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType)
...@@ -306,22 +307,16 @@ QString PX4FirmwarePlugin::missionCommandOverrides(MAV_TYPE vehicleType) const ...@@ -306,22 +307,16 @@ QString PX4FirmwarePlugin::missionCommandOverrides(MAV_TYPE vehicleType) const
switch (vehicleType) { switch (vehicleType) {
case MAV_TYPE_GENERIC: case MAV_TYPE_GENERIC:
return QStringLiteral(":/json/PX4/MavCmdInfoCommon.json"); return QStringLiteral(":/json/PX4/MavCmdInfoCommon.json");
break;
case MAV_TYPE_FIXED_WING: case MAV_TYPE_FIXED_WING:
return QStringLiteral(":/json/PX4/MavCmdInfoFixedWing.json"); return QStringLiteral(":/json/PX4/MavCmdInfoFixedWing.json");
break;
case MAV_TYPE_QUADROTOR: case MAV_TYPE_QUADROTOR:
return QStringLiteral(":/json/PX4/MavCmdInfoMultiRotor.json"); return QStringLiteral(":/json/PX4/MavCmdInfoMultiRotor.json");
break;
case MAV_TYPE_VTOL_QUADROTOR: case MAV_TYPE_VTOL_QUADROTOR:
return QStringLiteral(":/json/PX4/MavCmdInfoVTOL.json"); return QStringLiteral(":/json/PX4/MavCmdInfoVTOL.json");
break;
case MAV_TYPE_SUBMARINE: case MAV_TYPE_SUBMARINE:
return QStringLiteral(":/json/PX4/MavCmdInfoSub.json"); return QStringLiteral(":/json/PX4/MavCmdInfoSub.json");
break;
case MAV_TYPE_GROUND_ROVER: case MAV_TYPE_GROUND_ROVER:
return QStringLiteral(":/json/PX4/MavCmdInfoRover.json"); return QStringLiteral(":/json/PX4/MavCmdInfoRover.json");
break;
default: default:
qWarning() << "PX4FirmwarePlugin::missionCommandOverrides called with bad MAV_TYPE:" << vehicleType; qWarning() << "PX4FirmwarePlugin::missionCommandOverrides called with bad MAV_TYPE:" << vehicleType;
return QString(); return QString();
...@@ -410,13 +405,14 @@ void PX4FirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle, double takeoffAltRel ...@@ -410,13 +405,14 @@ void PX4FirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle, double takeoffAltRel
qDebug() << takeoffAltRel << takeoffAltRelFromVehicle << takeoffAltAMSL << vehicleAltitudeAMSL; qDebug() << takeoffAltRel << takeoffAltRelFromVehicle << takeoffAltAMSL << vehicleAltitudeAMSL;
connect(vehicle, &Vehicle::mavCommandResult, this, &PX4FirmwarePlugin::_mavCommandResult); connect(vehicle, &Vehicle::mavCommandResult, this, &PX4FirmwarePlugin::_mavCommandResult);
vehicle->sendMavCommand(vehicle->defaultComponentId(), vehicle->sendMavCommand(
MAV_CMD_NAV_TAKEOFF, vehicle->defaultComponentId(),
true, // show error is fails MAV_CMD_NAV_TAKEOFF,
-1, // No pitch requested true, // show error is fails
0, 0, // param 2-4 unused -1, // No pitch requested
NAN, NAN, NAN, // No yaw, lat, lon 0, 0, // param 2-4 unused
takeoffAltAMSL); // AMSL altitude NAN, NAN, NAN, // No yaw, lat, lon
static_cast<float>(takeoffAltAMSL)); // AMSL altitude
} }
void PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord) void PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord)
...@@ -446,8 +442,8 @@ void PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoord ...@@ -446,8 +442,8 @@ void PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoord
MAV_DO_REPOSITION_FLAGS_CHANGE_MODE, MAV_DO_REPOSITION_FLAGS_CHANGE_MODE,
0.0f, 0.0f,
NAN, NAN,
gotoCoord.latitude(), static_cast<float>(gotoCoord.latitude()),
gotoCoord.longitude(), static_cast<float>(gotoCoord.longitude()),
vehicle->altitudeAMSL()->rawValue().toFloat()); vehicle->altitudeAMSL()->rawValue().toFloat());
} }
} }
...@@ -475,7 +471,7 @@ void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu ...@@ -475,7 +471,7 @@ void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
NAN, NAN,
NAN, NAN,
NAN, NAN,
vehicle->homePosition().altitude() + newAltRel); static_cast<float>(vehicle->homePosition().altitude() + newAltRel));
} }
void PX4FirmwarePlugin::startMission(Vehicle* vehicle) void PX4FirmwarePlugin::startMission(Vehicle* vehicle)
...@@ -594,3 +590,8 @@ QString PX4FirmwarePlugin::_getLatestVersionFileUrl(Vehicle* vehicle){ ...@@ -594,3 +590,8 @@ QString PX4FirmwarePlugin::_getLatestVersionFileUrl(Vehicle* vehicle){
QString PX4FirmwarePlugin::_versionRegex() { QString PX4FirmwarePlugin::_versionRegex() {
return QStringLiteral("v([0-9,\\.]*) Stable"); return QStringLiteral("v([0-9,\\.]*) Stable");
} }
bool PX4FirmwarePlugin::supportsNegativeThrust(void)
{
return _vehicleType == MAV_TYPE_GROUND_ROVER;
}
...@@ -23,8 +23,8 @@ class PX4FirmwarePlugin : public FirmwarePlugin ...@@ -23,8 +23,8 @@ class PX4FirmwarePlugin : public FirmwarePlugin
Q_OBJECT Q_OBJECT
public: public:
PX4FirmwarePlugin(void); PX4FirmwarePlugin (MAV_TYPE vehicleType);
~PX4FirmwarePlugin(); ~PX4FirmwarePlugin () override;
// Overrides from FirmwarePlugin // Overrides from FirmwarePlugin
...@@ -69,6 +69,7 @@ public: ...@@ -69,6 +69,7 @@ public:
QString autoDisarmParameter (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral("COM_DISARM_LAND"); } QString autoDisarmParameter (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral("COM_DISARM_LAND"); }
uint32_t highLatencyCustomModeTo32Bits (uint16_t hlCustomMode) override; uint32_t highLatencyCustomModeTo32Bits (uint16_t hlCustomMode) override;
bool supportsTerrainFrame (void) const override { return false; } bool supportsTerrainFrame (void) const override { return false; }
bool supportsNegativeThrust (void) override;
protected: protected:
typedef struct { typedef struct {
...@@ -122,7 +123,7 @@ class PX4FirmwarePluginInstanceData : public QObject ...@@ -122,7 +123,7 @@ class PX4FirmwarePluginInstanceData : public QObject
Q_OBJECT Q_OBJECT
public: public:
PX4FirmwarePluginInstanceData(QObject* parent = NULL); PX4FirmwarePluginInstanceData(QObject* parent = nullptr);
bool versionNotified; ///< true: user notified over version issue bool versionNotified; ///< true: user notified over version issue
}; };
......
...@@ -13,6 +13,7 @@ ...@@ -13,6 +13,7 @@
#include "PX4FirmwarePluginFactory.h" #include "PX4FirmwarePluginFactory.h"
#include "PX4/PX4FirmwarePlugin.h" #include "PX4/PX4FirmwarePlugin.h"
PX4FirmwarePluginFactory PX4FirmwarePluginFactory; PX4FirmwarePluginFactory PX4FirmwarePluginFactory;
PX4FirmwarePluginFactory::PX4FirmwarePluginFactory(void) PX4FirmwarePluginFactory::PX4FirmwarePluginFactory(void)
...@@ -24,21 +25,17 @@ PX4FirmwarePluginFactory::PX4FirmwarePluginFactory(void) ...@@ -24,21 +25,17 @@ PX4FirmwarePluginFactory::PX4FirmwarePluginFactory(void)
QList<MAV_AUTOPILOT> PX4FirmwarePluginFactory::supportedFirmwareTypes(void) const QList<MAV_AUTOPILOT> PX4FirmwarePluginFactory::supportedFirmwareTypes(void) const
{ {
QList<MAV_AUTOPILOT> list; QList<MAV_AUTOPILOT> list;
list.append(MAV_AUTOPILOT_PX4); list.append(MAV_AUTOPILOT_PX4);
return list; return list;
} }
FirmwarePlugin* PX4FirmwarePluginFactory::firmwarePluginForAutopilot(MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType) FirmwarePlugin* PX4FirmwarePluginFactory::firmwarePluginForAutopilot(MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType)
{ {
Q_UNUSED(vehicleType);
if (autopilotType == MAV_AUTOPILOT_PX4) { if (autopilotType == MAV_AUTOPILOT_PX4) {
if (!_pluginInstance) { if (!_pluginInstance) {
_pluginInstance = new PX4FirmwarePlugin; _pluginInstance = new PX4FirmwarePlugin(vehicleType);
} }
return _pluginInstance; return _pluginInstance;
} }
return nullptr; return nullptr;
} }
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