Merge pull request #2434 from DonLakeFlyer/APMFrame

Show APM Airframe config at appropriate times

qgcresources.qrc

@@ -36,10 +36,9 @@
         <file alias="VehicleSummaryIcon.png">src/VehicleSetup/VehicleSummaryIcon.png</file>
         <file alias="VehicleTailDown.png">src/AutoPilotPlugins/PX4/Images/VehicleTailDown.png</file>
         <file alias="VehicleUpsideDown.png">src/AutoPilotPlugins/PX4/Images/VehicleUpsideDown.png</file>
-
         <file alias="attitudeDial.svg">src/FlightMap/Images/attitudeDial.svg</file>
         <file alias="attitudeInstrument.svg">src/FlightMap/Images/attitudeInstrument.svg</file>
-        <file alias="attitudePointer.svg">src//FlightMap/Images/attitudePointer.svg</file>
+        <file alias="attitudePointer.svg">src/FlightMap/Images/attitudePointer.svg</file>
         <file alias="buttonHome.svg">src/FlightMap/Images/buttonHome.svg</file>
         <file alias="buttonMore.svg">src/FlightMap/Images/buttonMore.svg</file>
         <file alias="compassInstrumentAirplane.svg">src/FlightMap/Images/compassInstrumentAirplane.svg</file>
@@ -54,8 +53,6 @@
         <file alias="airplaneOpaque.svg">src/FlightMap/Images/airplaneOpaque.svg</file>
         <file alias="ZoomPlus.svg">src/FlightMap/Images/ZoomPlus.svg</file>
         <file alias="ZoomMinus.svg">src/FlightMap/Images/ZoomMinus.svg</file>
-
-        <!-- Map Buttons -->
         <file alias="ArrowHead.svg">src/FlightMap/Images/ArrowHead.svg</file>
         <file alias="Help.svg">src/FlightMap/Images/Help.svg</file>
         <file alias="HelpBlack.svg">src/FlightMap/Images/HelpBlack.svg</file>
@@ -72,8 +69,6 @@
         <file alias="MapTypeBlack.svg">src/FlightMap/Images/MapTypeBlack.svg</file>
         <file alias="TrashDelete.svg">src/FlightMap/Images/TrashDelete.svg</file>
         <file alias="TrashDeleteBlack.svg">src/FlightMap/Images/TrashDeleteBlack.svg</file>
-
-        <!-- Toolbar -->
         <file alias="Armed.svg">src/ui/toolbar/Images/Armed.svg</file>
         <file alias="Battery.svg">src/ui/toolbar/Images/Battery.svg</file>
         <file alias="Connect.svg">src/ui/toolbar/Images/Connect.svg</file>
@@ -95,11 +90,8 @@
         <file alias="Signal100.svg">src/ui/toolbar/Images/Signal100.svg</file>
         <file alias="TelemRSSI.svg">src/ui/toolbar/Images/TelemRSSI.svg</file>
         <file alias="Yield.svg">src/ui/toolbar/Images/Yield.svg</file>
-
         <file alias="CogWheel.svg">src/MissionManager/CogWheel.svg</file>
-
     </qresource>
-
     <qresource prefix="/res">
         <file alias="AntennaRC">resources/Antenna_RC.svg</file>
         <file alias="AntennaT">resources/Antenna_T.svg</file>
@@ -117,13 +109,11 @@
         <file alias="XDelete.svg">resources/XDelete.svg</file>
         <file alias="XDeleteBlack.svg">resources/XDeleteBlack.svg</file>
     </qresource>
-
     <qresource prefix="/res/firmware">
         <file alias="px4.png">resources/firmware/px4.png</file>
         <file alias="apm.png">resources/firmware/apm.png</file>
         <file alias="3drradio.png">resources/firmware/3drradio.png</file>
     </qresource>
-
     <qresource prefix="/res/mavs">
         <file alias="Helicopter">resources/mavs/helicopter.svg</file>
         <file alias="Unknown">resources/mavs/unknown.svg</file>
@@ -145,7 +135,6 @@
         <file alias="SurfaceBoat">resources/mavs/surface-boat.svg</file>
         <file alias="TriCopter">resources/mavs/tricopter.svg</file>
     </qresource>
-
     <qresource prefix="/res/calibration">
         <file alias="accel_back.png">resources/calibration/accel_back.png</file>
         <file alias="accel_front.png">resources/calibration/accel_front.png</file>
@@ -154,7 +143,6 @@
         <file alias="accel_up.png">resources/calibration/accel_up.png</file>
         <file alias="accel_left.png">resources/calibration/accel_left.png</file>
     </qresource>
-
     <qresource prefix="/qml/calibration/mode1">
         <file alias="radioCenter.png">resources/calibration/mode1/radioCenter.png</file>
         <file alias="radioHome.png">resources/calibration/mode1/radioHome.png</file>
@@ -168,7 +156,6 @@
         <file alias="radioThrottleDown.png">resources/calibration/mode1/radioThrottleDown.png</file>
         <file alias="radioSwitchMinMax.png">resources/calibration/mode1/radioSwitchMinMax.png</file>
     </qresource>
-
     <qresource prefix="/qml/calibration/mode2">
         <file alias="radioCenter.png">resources/calibration/mode2/radioCenter.png</file>
         <file alias="radioHome.png">resources/calibration/mode2/radioHome.png</file>
@@ -182,7 +169,6 @@
         <file alias="radioThrottleDown.png">resources/calibration/mode2/radioThrottleDown.png</file>
         <file alias="radioSwitchMinMax.png">resources/calibration/mode2/radioSwitchMinMax.png</file>
     </qresource>
-
     <qresource prefix="/qml/calibration/joystick">
         <file alias="joystickCenter.png">resources/calibration/joystick/joystickCenter.png</file>
         <file alias="joystickRollLeft.png">resources/calibration/joystick/joystickRollLeft.png</file>
@@ -194,24 +180,20 @@
         <file alias="joystickThrottleUp.png">resources/calibration/joystick/joystickThrottleUp.png</file>
         <file alias="joystickThrottleDown.png">resources/calibration/joystick/joystickThrottleDown.png</file>
     </qresource>
-
     <qresource prefix="/res/styles">
         <file alias="style-dark.css">resources/styles/style-dark.css</file>
         <file alias="style-light.css">resources/styles/style-light.css</file>
     </qresource>
-
     <qresource prefix="/res/audio">
         <file alias="Alert">resources/audio/alert.wav</file>
     </qresource>
-
     <qresource prefix="/AutoPilotPlugins/PX4">
         <file alias="AirframeFactMetaData.xml">src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml</file>
         <file alias="ParameterFactMetaData.xml">src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml</file>
     </qresource>
     <qresource prefix="/AutoPilotPlugins/APM">
-        <file alias="AirframeFactMetaData.xml">src/AutoPilotPlugins/APM/AirframeFactMetaData.xml</file>
+        <file alias="APMAirframeFactMetaData.xml">src/AutoPilotPlugins/APM/APMAirframeFactMetaData.xml</file>
     </qresource>
-
     <qresource prefix="/FirmwarePlugin/APM">
         <file alias="apm.pdef.xml">src/FirmwarePlugin/APM/apm.pdef.xml</file>
     </qresource>

src/AutoPilotPlugins/APM/APMAirframeComponent.cc

@@ -29,10 +29,16 @@
 
 APMAirframeComponent::APMAirframeComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
     : APMComponent(vehicle, autopilot, parent)
-    , _copterFirmware(false)
+    , _requiresFrameSetup(false)
     , _name("Airframe")
 {
-    _copterFirmware = qobject_cast<ArduCopterFirmwarePlugin*>(_vehicle->firmwarePlugin()) != NULL;
+    if (qobject_cast<ArduCopterFirmwarePlugin*>(_vehicle->firmwarePlugin()) != NULL) {
+        _requiresFrameSetup = true;
+        MAV_TYPE vehicleType = vehicle->vehicleType();
+        if (vehicleType == MAV_TYPE_TRICOPTER || vehicleType == MAV_TYPE_HELICOPTER) {
+            _requiresFrameSetup = false;
+        }
+    }
 }
 
 QString APMAirframeComponent::name(void) const
@@ -53,12 +59,12 @@ QString APMAirframeComponent::iconResource(void) const
 
 bool APMAirframeComponent::requiresSetup(void) const
 {
-    return _copterFirmware;
+    return _requiresFrameSetup;
 }
 
 bool APMAirframeComponent::setupComplete(void) const
 {
-    if (_copterFirmware) {
+    if (_requiresFrameSetup) {
         return _autopilot->getParameterFact(FactSystem::defaultComponentId, "FRAME")->rawValue().toInt() >= 0;
     } else {
         return true;
@@ -69,7 +75,7 @@ QStringList APMAirframeComponent::setupCompleteChangedTriggerList(void) const
 {
     QStringList list;
 
-    if (_copterFirmware) {
+    if (_requiresFrameSetup) {
         list << "FRAME";
     }
 
@@ -78,7 +84,7 @@ QStringList APMAirframeComponent::setupCompleteChangedTriggerList(void) const
 
 QUrl APMAirframeComponent::setupSource(void) const
 {
-    if (_copterFirmware) {
+    if (_requiresFrameSetup) {
         return QUrl::fromUserInput("qrc:/qml/APMAirframeComponent.qml");
     } else {
         return QUrl();
@@ -87,7 +93,7 @@ QUrl APMAirframeComponent::setupSource(void) const
 
 QUrl APMAirframeComponent::summaryQmlSource(void) const
 {
-    if (_copterFirmware) {
+    if (_requiresFrameSetup) {
         return QUrl::fromUserInput("qrc:/qml/APMAirframeComponentSummary.qml");
     } else {
         return QUrl();

src/AutoPilotPlugins/APM/APMAirframeComponent.h

@@ -47,7 +47,7 @@ public:
     virtual QString prerequisiteSetup(void) const;
 
 private:
-    bool            _copterFirmware;
+    bool            _requiresFrameSetup; ///< true: FRAME parameter must be set
     const QString   _name;
 };
 

src/AutoPilotPlugins/APM/APMAirframeComponentAirframes.cc

@@ -40,7 +40,7 @@ void APMAirframeComponentAirframes::insert(const QString& group, int groupId, co
         g = new AirframeType_t;
         g->name = group;
         g->type = groupId;
-        g->imageResource = QString("qrc:/qmlimages/") + (!image.isEmpty() ? image : QString("AirframeStandardPlane.png"));
+        g->imageResource = image.isEmpty() ? "" : QString("qrc:/qmlimages/") + image;
         rgAirframeTypes.insert(group, g);
     } else {
         g = rgAirframeTypes.value(group);

src/AutoPilotPlugins/APM/AirframeFactMetaData.xml → src/AutoPilotPlugins/APM/APMAirframeFactMetaData.xml

 <?xml version='1.0' encoding='UTF-8'?>
 <airframes>
   <version>1</version>
-  <airframe_group image="AirframeQuadRotorPlus.png" name="Plus Style" id="0">
+  <airframe_group image="AirframeQuadRotorPlus.png" name="Plus Frame" id="0">
       <airframe name="3DR Aero M" file="3DR_AERO_M.param"/>
       <airframe name="3DR Aero RTF" file="3DR_Aero_RTF.param"/>
       <airframe name="3DR Rover" file="3DR_Rover.param"/>
@@ -9,22 +9,26 @@
       <airframe name="Parrot Bebop" file="Parrot_Bebop.param"/>
       <airframe name="Storm32" file="SToRM32-MAVLink.param"/>
   </airframe_group>
-  <airframe_group image="AirframeQuadRotorX.png" name="X Style" id="1">
+  <airframe_group image="AirframeQuadRotorX.png" name="X Frame, Y6A Frame" id="1">
       <airframe name="3DR X8-M RTF" file="3DR_X8-M_RTF.param"/>
       <airframe name="3DR Y6A" file="3DR_Y6A_RTF.param"/>
       <airframe name="3DR X8+ RTF" file="3DR_X8+_RTF.param"/>
       <airframe name="3DR QUAD X4 RTF" file="3DR_QUAD_X4_RTF.param"/>
       <airframe name="3DR X8" file="3DR_X8_RTF.param"/>
   </airframe_group>
-  <airframe_group image="AirframeSimulation.png" name="V Style" id="2">
+  <airframe_group image="AirframeQuadRotorH.png" name="V Frame (3DR Iris)" id="2">
       <airframe name="Iris with GoPro" file="Iris with Front Mount Go Pro.param"/>
       <airframe name="Iris with Tarot" file="Iris with Tarot Gimbal.param"/>
       <airframe name="3DR Iris+" file="3DR_Iris+.param"/>
       <airframe name="Iris" file="Iris.param"/>
   </airframe_group>
-  <airframe_group image="AirframeQuadRotorH.png" name="H Style" id="3">
+  <airframe_group image="AirframeQuadRotorH.png" name="V Tail Frame" id="4">
   </airframe_group>
-  <airframe_group image="AirframeHexaRotorX.png" name="Y6B" id="10">
+  <airframe_group image="AirframeQuadRotorH.png" name="A Tail Frame" id="5">
+  </airframe_group>
+  <airframe_group name="H Frame" id="3">
+  </airframe_group>
+  <airframe_group name="Y6B Frame (3DR TriCopter)" id="10">
       <airframe name="3DR Y6B" file="3DR_Y6B_RTF.param"/>
   </airframe_group>
 <airframes>

src/AutoPilotPlugins/APM/APMAirframeLoader.cc

@@ -57,7 +57,7 @@ void APMAirframeLoader::loadAirframeFactMetaData(void)
 
     Q_ASSERT(APMAirframeComponentAirframes::get().count() == 0);
 
-    QString airframeFilename = ":/AutoPilotPlugins/APM/AirframeFactMetaData.xml";
+    QString airframeFilename = ":/AutoPilotPlugins/APM/APMAirframeFactMetaData.xml";
 
     qCDebug(APMAirframeLoaderLog) << "Loading meta data file:" << airframeFilename;