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Commit ae3d4965 authored by Don Gagne's avatar Don Gagne
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Return and Offboard must be on separate channel

parent c3251189
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Showing with 170 additions and 124 deletions
src/AutoPilotPlugins/PX4/FlightModesComponent.qml
View file @ ae3d4965
...@@ -60,6 +60,7 @@ Item { ...@@ -60,6 +60,7 @@ Item {
Fact { id: rc_map_mode_sw; name: "RC_MAP_MODE_SW" } Fact { id: rc_map_mode_sw; name: "RC_MAP_MODE_SW" }
Fact { id: rc_map_posctl_sw; name: "RC_MAP_POSCTL_SW" } Fact { id: rc_map_posctl_sw; name: "RC_MAP_POSCTL_SW" }
Fact { id: rc_map_return_sw; name: "RC_MAP_RETURN_SW" } Fact { id: rc_map_return_sw; name: "RC_MAP_RETURN_SW" }
Fact { id: rc_map_offboard_sw; name: "RC_MAP_OFFB_SW" }
Fact { id: rc_map_loiter_sw; name: "RC_MAP_LOITER_SW" } Fact { id: rc_map_loiter_sw; name: "RC_MAP_LOITER_SW" }
Fact { id: rc_assist_th; name: "RC_ASSIST_TH" } Fact { id: rc_assist_th; name: "RC_ASSIST_TH" }
...@@ -67,6 +68,7 @@ Item { ...@@ -67,6 +68,7 @@ Item {
Fact { id: rc_auto_th; name: "RC_AUTO_TH" } Fact { id: rc_auto_th; name: "RC_AUTO_TH" }
Fact { id: rc_loiter_th; name: "RC_LOITER_TH" } Fact { id: rc_loiter_th; name: "RC_LOITER_TH" }
Fact { id: rc_return_th; name: "RC_RETURN_TH" } Fact { id: rc_return_th; name: "RC_RETURN_TH" }
Fact { id: rc_offboard_th; name: "RC_OFFB_TH" }
Fact { id: rc_th_user; name: "RC_TH_USER" } Fact { id: rc_th_user; name: "RC_TH_USER" }
...@@ -81,6 +83,7 @@ Item { ...@@ -81,6 +83,7 @@ Item {
property int modeChannel: rc_map_mode_sw.value property int modeChannel: rc_map_mode_sw.value
property int posCtlChannel: rc_map_posctl_sw.value property int posCtlChannel: rc_map_posctl_sw.value
property int returnChannel: rc_map_return_sw.value property int returnChannel: rc_map_return_sw.value
property int offboardChannel: rc_map_offboard_sw.value
property int loiterChannel: rc_map_loiter_sw.value property int loiterChannel: rc_map_loiter_sw.value
property real rcThUserValue: rc_th_user.value property real rcThUserValue: rc_th_user.value
...@@ -187,15 +190,19 @@ Item { ...@@ -187,15 +190,19 @@ Item {
// If dropped over a channel target remap switch // If dropped over a channel target remap switch
if (parent.Drag.target && parent.Drag.target.dropAllowed) { if (parent.Drag.target && parent.Drag.target.dropAllowed) {
fact.value = parent.Drag.target.channel if (!singleSwitchRequired || parent.Drag.target.unassignedChannel) {
fact.value = parent.Drag.target.channel
}
} }
} }
} }
DropArea { DropArea {
// This will cause to tile to go back to unassigned if dropped here // This will cause to tile to go back to unassigned if dropped here
readonly property int channel: 0 readonly property int channel: 0
property bool dropAllowed: true property bool dropAllowed: true
property bool unassignedChannel: true
id: dropArea id: dropArea
width: parent.width width: parent.width
...@@ -258,7 +265,9 @@ Item { ...@@ -258,7 +265,9 @@ Item {
// If dropped over a channel target remap switch // If dropped over a channel target remap switch
if (parent.Drag.target && parent.Drag.target.dropAllowed) { if (parent.Drag.target && parent.Drag.target.dropAllowed) {
fact.value = parent.Drag.target.channel if (!singleSwitchRequired || parent.Drag.target.unassignedChannel) {
fact.value = parent.Drag.target.channel
}
} }
} }
} }
...@@ -267,6 +276,7 @@ Item { ...@@ -267,6 +276,7 @@ Item {
onModeChannelChanged: if (!inRedistribution) redistributeThresholds() onModeChannelChanged: if (!inRedistribution) redistributeThresholds()
onReturnChannelChanged: if (!inRedistribution) redistributeThresholds() onReturnChannelChanged: if (!inRedistribution) redistributeThresholds()
onOffboardChannelChanged: if (!inRedistribution) redistributeThresholds()
onLoiterChannelChanged: if (!inRedistribution) redistributeThresholds() onLoiterChannelChanged: if (!inRedistribution) redistributeThresholds()
onPosCtlChannelChanged: if (!inRedistribution) redistributeThresholds() onPosCtlChannelChanged: if (!inRedistribution) redistributeThresholds()
onRcThUserValue: if (!inRedistribution) redistributeThresholds() onRcThUserValue: if (!inRedistribution) redistributeThresholds()
...@@ -280,11 +290,9 @@ Item { ...@@ -280,11 +290,9 @@ Item {
if (modeChannel != 0) { if (modeChannel != 0) {
var positions = 3 // Manual/Assist/Auto always exist var positions = 3 // Manual/Assist/Auto always exist
var returnOnModeSwitch = modeChannel == returnChannel
var loiterOnModeSwitch = modeChannel == loiterChannel var loiterOnModeSwitch = modeChannel == loiterChannel
var posCtlOnModeSwitch = modeChannel == posCtlChannel var posCtlOnModeSwitch = modeChannel == posCtlChannel
positions += returnOnModeSwitch ? 1 : 0
positions += loiterOnModeSwitch ? 1 : 0 positions += loiterOnModeSwitch ? 1 : 0
positions += posCtlOnModeSwitch ? 1 : 0 positions += posCtlOnModeSwitch ? 1 : 0
...@@ -306,75 +314,49 @@ Item { ...@@ -306,75 +314,49 @@ Item {
currentThreshold += increment currentThreshold += increment
rc_loiter_th.value = currentThreshold rc_loiter_th.value = currentThreshold
} }
if (returnOnModeSwitch) {
currentThreshold += increment
rc_return_th.value = currentThreshold
}
inRedistribution = false inRedistribution = false
} }
if (returnChannel != 0 && returnChannel != modeChannel) { if (returnChannel != 0) {
var positions = 2 // On/off always exist
var loiterOnReturnSwitch = returnChannel == loiterChannel
positions += loiterOnReturnSwitch ? 1 : 0
var increment = 1.0 / positions
var currentThreshold = 0.0
if (positions == 2) {
// If only two positions don't set threshold at midrange. Setting to 0.25
// allows for this channel to work with either two or three position switch
increment = 0.25
}
// Make sure we don't re-enter
inRedistribution = true inRedistribution = true
if (loiterOnReturnSwitch) { // If only two positions don't set threshold at midrange. Setting to 0.25
currentThreshold += increment // allows for this channel to work with either two or three position switch
rc_loiter_th.value = currentThreshold rc_return_th.value = 0.25
}
currentThreshold += increment
rc_return_th.value = currentThreshold
inRedistribution = false inRedistribution = false
} }
if (loiterChannel != 0 && loiterChannel != modeChannel && loiterChannel != returnChannel) { if (offboardChannel != 0) {
inRedistribution = true
// If only two positions don't set threshold at midrange. Setting to 0.25 // If only two positions don't set threshold at midrange. Setting to 0.25
// allows for this channel to work with either two or three position switch // allows for this channel to work with either two or three position switch
var increment = 0.25 rc_offboard_th.value = 0.25
var currentThreshold = 0.0 inRedistribution = false
}
// Make sure we don't re-enter if (loiterChannel != 0 && loiterChannel != modeChannel) {
inRedistribution = true inRedistribution = true
currentThreshold += increment // If only two positions don't set threshold at midrange. Setting to 0.25
rc_loiter_th.value = currentThreshold // allows for this channel to work with either two or three position switch
rc_loiter_th.value = 0.25
inRedistribution = false inRedistribution = false
} }
if (posCtlChannel != 0 & posCtlChannel != modeChannel) { if (posCtlChannel != 0 & posCtlChannel != modeChannel) {
// If only two positions don't set threshold at midrange. Setting to 0.25
// allows for this channel to work with either two or three position switch
var increment = 0.25
var currentThreshold = 0.0
// Make sure we don't re-enter
inRedistribution = true inRedistribution = true
currentThreshold += increment // If only two positions don't set threshold at midrange. Setting to 0.25
rc_posctl_th.value = currentThreshold // allows for this channel to work with either two or three position switch
rc_posctl_th.value = 0.25
inRedistribution = false inRedistribution = false
} }
} }
Column { Column {
...@@ -389,9 +371,10 @@ Item { ...@@ -389,9 +371,10 @@ Item {
QGCLabel { QGCLabel {
width: parent.width width: parent.width
text: "Flight Mode switches can be assigned to any channel which is not currently being used for attitude control. All channels are displayed below. " + text: "The Main Mode, Loiter and PostCtl switches can be assigned to any channel which is not currently being used for attitude control. The Return and Offboard switches must be assigned to their seperate channel. " +
"You can drag Flight Modes from the Flight Modes section below to a channel and drop it there. You can also drag switches assigned to a channel " + "All channels are displayed below. " +
"to another channel or back to the Unassigned Switches section. The Switch Display section at the very bottom will show you the results of your Flight Mode setup." "You can drag Flight Modes from the Flight Modes section below to a channel and drop it there. You can also drag switches assigned to a channel " +
"to another channel or back to the Unassigned Switches section. The Switch Display section at the very bottom will show you the results of your Flight Mode setup."
wrapMode: Text.WordWrap wrapMode: Text.WordWrap
} }
...@@ -420,10 +403,12 @@ Item { ...@@ -420,10 +403,12 @@ Item {
property bool modeMapped: channel == modeChannel property bool modeMapped: channel == modeChannel
property bool posCtlMapped: channel == posCtlChannel property bool posCtlMapped: channel == posCtlChannel
property bool returnMapped: channel == returnChannel property bool returnMapped: channel == returnChannel
property bool offboardMapped: channel == offboardChannel
property bool loiterMapped: channel == loiterChannel property bool loiterMapped: channel == loiterChannel
property bool nonFlightModeMapping: throttleMapped | yawMapped | pitchMapped | rollMapped | flapsMapped | aux1Mapped | aux2Mapped property bool nonFlightModeMapping: throttleMapped | yawMapped | pitchMapped | rollMapped | flapsMapped | aux1Mapped | aux2Mapped
property bool unassignedMapping: !(nonFlightModeMapping | modeMapped | posCtlMapped | returnMapped | loiterMapped) property bool unassignedMapping: !(nonFlightModeMapping | modeMapped | posCtlMapped | returnMapped | offboardMapped | loiterMapped)
property bool singleSwitchMapping: returnMapped | offboardMapped
id: channelTarget id: channelTarget
width: tileWidth width: tileWidth
...@@ -433,7 +418,7 @@ Item { ...@@ -433,7 +418,7 @@ Item {
states: [ states: [
State { State {
when: dropArea.containsDrag && dropArea.dropAllowed when: dropArea.containsDrag && dropArea.dropAllowed && (!dropArea.drag.source.singleSwitchRequired || dropArea.unassignedChannel)
PropertyChanges { PropertyChanges {
target: channelHeader target: channelHeader
color: "red" color: "red"
...@@ -522,37 +507,51 @@ Item { ...@@ -522,37 +507,51 @@ Item {
sourceComponent: assignedModeTileComponent sourceComponent: assignedModeTileComponent
} }
Loader { Loader {
property string tileLabel: "Main Mode" property string tileLabel: "Main Mode"
property bool tileVisible: visible property bool tileVisible: visible
property bool tileDragEnabled: true property bool tileDragEnabled: true
property string tileParam: "RC_MAP_MODE_SW" property string tileParam: "RC_MAP_MODE_SW"
property bool singleSwitchRequired: false
visible: modeMapped visible: modeMapped
sourceComponent: assignedModeTileComponent sourceComponent: assignedModeTileComponent
} }
Loader { Loader {
property string tileLabel: "Return" property string tileLabel: "Return"
property bool tileVisible: visible property bool tileVisible: visible
property bool tileDragEnabled: true property bool tileDragEnabled: true
property string tileParam: "RC_MAP_RETURN_SW" property string tileParam: "RC_MAP_RETURN_SW"
property bool singleSwitchRequired: true
visible: returnMapped visible: returnMapped
sourceComponent: assignedModeTileComponent sourceComponent: assignedModeTileComponent
} }
Loader { Loader {
property string tileLabel: "Loiter" property string tileLabel: "Offboard"
property bool tileVisible: visible property bool tileVisible: visible
property bool tileDragEnabled: true property bool tileDragEnabled: true
property string tileParam: "RC_MAP_LOITER_SW" property string tileParam: "RC_MAP_OFFB_SW"
property bool singleSwitchRequired: true
visible: offboardMapped
sourceComponent: assignedModeTileComponent
}
Loader {
property string tileLabel: "Loiter"
property bool tileVisible: visible
property bool tileDragEnabled: true
property string tileParam: "RC_MAP_LOITER_SW"
property bool singleSwitchRequired: false
visible: loiterMapped visible: loiterMapped
sourceComponent: assignedModeTileComponent sourceComponent: assignedModeTileComponent
} }
Loader { Loader {
property string tileLabel: "PosCtl" property string tileLabel: "PosCtl"
property bool tileVisible: visible property bool tileVisible: visible
property bool tileDragEnabled: true property bool tileDragEnabled: true
property string tileParam: "RC_MAP_POSCTL_SW" property string tileParam: "RC_MAP_POSCTL_SW"
property bool singleSwitchRequired: false
visible: posCtlMapped visible: posCtlMapped
sourceComponent: assignedModeTileComponent sourceComponent: assignedModeTileComponent
...@@ -561,7 +560,8 @@ Item { ...@@ -561,7 +560,8 @@ Item {
DropArea { DropArea {
// Drops are not allowed on channels which are mapped to non-flight mode switches // Drops are not allowed on channels which are mapped to non-flight mode switches
property bool dropAllowed: !nonFlightModeMapping property bool dropAllowed: !nonFlightModeMapping && !singleSwitchMapping
property bool unassignedChannel: unassignedMapping
property int channel: parent.channel property int channel: parent.channel
id: dropArea id: dropArea
...@@ -592,24 +592,34 @@ Item { ...@@ -592,24 +592,34 @@ Item {
spacing: 5 spacing: 5
Loader { Loader {
property string tileLabel: "Main Mode" property string tileLabel: "Main Mode"
property string tileParam: "RC_MAP_MODE_SW" property string tileParam: "RC_MAP_MODE_SW"
sourceComponent: unassignedModeTileComponent property bool singleSwitchRequired: false
sourceComponent: unassignedModeTileComponent
}
Loader {
property string tileLabel: "Loiter"
property string tileParam: "RC_MAP_LOITER_SW"
property bool singleSwitchRequired: false
sourceComponent: unassignedModeTileComponent
} }
Loader { Loader {
property string tileLabel: "Return" property string tileLabel: "PosCtl"
property string tileParam: "RC_MAP_RETURN_SW" property string tileParam: "RC_MAP_POSCTL_SW"
sourceComponent: unassignedModeTileComponent property bool singleSwitchRequired: false
sourceComponent: unassignedModeTileComponent
} }
Loader { Loader {
property string tileLabel: "Loiter" property string tileLabel: "Return"
property string tileParam: "RC_MAP_LOITER_SW" property string tileParam: "RC_MAP_RETURN_SW"
sourceComponent: unassignedModeTileComponent property bool singleSwitchRequired: true
sourceComponent: unassignedModeTileComponent
} }
Loader { Loader {
property string tileLabel: "PosCtl" property string tileLabel: "Offboard"
property string tileParam: "RC_MAP_POSCTL_SW" property string tileParam: "RC_MAP_OFFB_SW"
sourceComponent: unassignedModeTileComponent property bool singleSwitchRequired: true
sourceComponent: unassignedModeTileComponent
} }
} }
...@@ -643,9 +653,10 @@ Item { ...@@ -643,9 +653,10 @@ Item {
Row { Row {
property bool modeSwitchVisible: modeChannel != 0 property bool modeSwitchVisible: modeChannel != 0
property bool returnSwitchVisible: returnChannel != 0 && returnChannel != modeChannel
property bool loiterSwitchVisible: loiterChannel != 0 && loiterChannel != modeChannel && loiterChannel != returnChannel property bool loiterSwitchVisible: loiterChannel != 0 && loiterChannel != modeChannel && loiterChannel != returnChannel
property bool posCtlSwitchVisible: posCtlChannel != 0 && posCtlChannel != modeChannel property bool posCtlSwitchVisible: posCtlChannel != 0 && posCtlChannel != modeChannel
property bool returnSwitchVisible: returnChannel != 0
property bool offboardSwitchVisible: offboardChannel != 0
width: parent.width width: parent.width
spacing: 20 spacing: 20
...@@ -668,14 +679,6 @@ Item { ...@@ -668,14 +679,6 @@ Item {
text: "Auto" text: "Auto"
} }
QGCLabel {
width: parent.width
y: (parent.height * (1.0 - rc_return_th.value)) - (implicitHeight / 2)
visible: modeChannel == returnChannel
horizontalAlignment: Text.AlignRight
text: "Auto: Return"
}
QGCLabel { QGCLabel {
width: parent.width width: parent.width
y: (parent.height * (1.0 - rc_loiter_th.value)) - (implicitHeight / 2) y: (parent.height * (1.0 - rc_loiter_th.value)) - (implicitHeight / 2)
...@@ -741,9 +744,9 @@ Item { ...@@ -741,9 +744,9 @@ Item {
} }
Column { Column {
visible: parent.returnSwitchVisible visible: parent.loiterSwitchVisible
QGCLabel { text: "Return Switch" } QGCLabel { text: "Loiter Switch" }
Row { Row {
Item { Item {
...@@ -752,48 +755,64 @@ Item { ...@@ -752,48 +755,64 @@ Item {
QGCLabel { QGCLabel {
width: parent.width width: parent.width
y: (parent.height * (1.0 - rc_return_th.value)) - (implicitHeight / 2) y: (parent.height * (1.0 - rc_loiter_th.value)) - (implicitHeight / 2)
horizontalAlignment: Text.AlignRight horizontalAlignment: Text.AlignRight
text: "Auto: Return" text: "Auto: Loiter"
} }
QGCLabel { QGCLabel {
width: parent.width width: parent.width
y: (parent.height * (1.0 - rc_loiter_th.value)) - (implicitHeight / 2) y: parent.height - (implicitHeight / 2)
visible: returnChannel == loiterChannel
horizontalAlignment: Text.AlignRight horizontalAlignment: Text.AlignRight
text: "Auto: Loiter" text: "Auto: Mission"
} }
}
ProgressBar {
height: progressBarHeight
orientation: Qt.Vertical
value: controller.loiterSwitchLiveRange
}
}
}
Column {
visible: parent.posCtlSwitchVisible
QGCLabel { text: "PosCtl Switch" }
Row {
Item {
height: progressBarHeight
width: 150
QGCLabel { QGCLabel {
width: parent.width width: parent.width
y: parent.height - (implicitHeight / 2) y: (parent.height * (1.0 - rc_posctl_th.value)) - (implicitHeight / 2)
visible: returnChannel == loiterChannel
horizontalAlignment: Text.AlignRight horizontalAlignment: Text.AlignRight
text: "Auto: Mission" text: "Assist: PosCtl"
} }
QGCLabel { QGCLabel {
width: parent.width width: parent.width
y: parent.height - (implicitHeight / 2) y: parent.height - (implicitHeight / 2)
visible: returnChannel != loiterChannel
horizontalAlignment: Text.AlignRight horizontalAlignment: Text.AlignRight
text: "Auto: Return Off" text: "Assist: AltCtl"
} }
} }
ProgressBar { ProgressBar {
height: progressBarHeight height: progressBarHeight
orientation: Qt.Vertical orientation: Qt.Vertical
value: controller.returnSwitchLiveRange value: controller.posCtlSwitchLiveRange
} }
} }
} }
Column { Column {
visible: parent.loiterSwitchVisible visible: parent.returnSwitchVisible
QGCLabel { text: "Loiter Switch" } QGCLabel { text: "Return Switch" }
Row { Row {
Item { Item {
...@@ -802,31 +821,32 @@ Item { ...@@ -802,31 +821,32 @@ Item {
QGCLabel { QGCLabel {
width: parent.width width: parent.width
y: (parent.height * (1.0 - rc_loiter_th.value)) - (implicitHeight / 2) y: (parent.height * (1.0 - rc_return_th.value)) - (implicitHeight / 2)
horizontalAlignment: Text.AlignRight horizontalAlignment: Text.AlignRight
text: "Auto: Loiter" text: "Return"
} }
QGCLabel { QGCLabel {
width: parent.width width: parent.width
y: parent.height - (implicitHeight / 2) y: parent.height - (implicitHeight / 2)
visible: returnChannel != loiterChannel
horizontalAlignment: Text.AlignRight horizontalAlignment: Text.AlignRight
text: "Auto: Mission" text: "Return Off"
} }
} }
ProgressBar { ProgressBar {
height: progressBarHeight height: progressBarHeight
orientation: Qt.Vertical orientation: Qt.Vertical
value: controller.loiterSwitchLiveRange value: controller.returnSwitchLiveRange
} }
} }
} }
Column { Column {
visible: parent.posCtlSwitchVisible visible: parent.offboardSwitchVisible
QGCLabel { text: "PosCtl Switch" } QGCLabel { text: "Offboard Switch" }
Row { Row {
Item { Item {
...@@ -835,23 +855,24 @@ Item { ...@@ -835,23 +855,24 @@ Item {
QGCLabel { QGCLabel {
width: parent.width width: parent.width
y: (parent.height * (1.0 - rc_posctl_th.value)) - (implicitHeight / 2) y: (parent.height * (1.0 - rc_return_th.value)) - (implicitHeight / 2)
horizontalAlignment: Text.AlignRight horizontalAlignment: Text.AlignRight
text: "Assist: PosCtl" text: "Offboad"
} }
QGCLabel { QGCLabel {
width: parent.width width: parent.width
y: parent.height - (implicitHeight / 2) y: parent.height - (implicitHeight / 2)
visible: returnChannel != loiterChannel
horizontalAlignment: Text.AlignRight horizontalAlignment: Text.AlignRight
text: "Assist: AltCtl" text: "Offboard Off"
} }
} }
ProgressBar { ProgressBar {
height: progressBarHeight height: progressBarHeight
orientation: Qt.Vertical orientation: Qt.Vertical
value: controller.posCtlSwitchLiveRange value: controller.offboardSwitchLiveRange
} }
} }
} }
......
src/AutoPilotPlugins/PX4/FlightModesComponentController.cc
View file @ ae3d4965
...@@ -82,8 +82,8 @@ void FlightModesComponentController::_validateConfiguration(void) ...@@ -82,8 +82,8 @@ void FlightModesComponentController::_validateConfiguration(void)
QStringList switchParams, switchNames; QStringList switchParams, switchNames;
QList<int> switchMappings; QList<int> switchMappings;
switchParams << "RC_MAP_MODE_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_POSCTL_SW"; switchParams << "RC_MAP_MODE_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_POSCTL_SW" << "RC_MAP_OFFB_SW";
switchNames << "Mode Switch" << "Return Switch" << "Loiter Switch" << "PosCtl Switch"; switchNames << "Mode Switch" << "Return Switch" << "Loiter Switch" << "PosCtl Switch" << "Offboard Switch";
for(int i=0; i<switchParams.count(); i++) { for(int i=0; i<switchParams.count(); i++) {
int map = _autoPilotPlugin->getParameterFact(switchParams[i])->value().toInt(); int map = _autoPilotPlugin->getParameterFact(switchParams[i])->value().toInt();
...@@ -95,12 +95,12 @@ void FlightModesComponentController::_validateConfiguration(void) ...@@ -95,12 +95,12 @@ void FlightModesComponentController::_validateConfiguration(void)
} }
} }
// Make sure switches are not mapped to attitude control channels // Make sure switches are not double-mapped
QStringList attitudeParams, attitudeNames; QStringList attitudeParams, attitudeNames;
attitudeParams << "RC_MAP_THROTTLE" << "RC_MAP_YAW" << "RC_MAP_PITCH" << "RC_MAP_ROLL" << "RC_MAP_FLAPS" << "RC_MAP_AUX1" << "RC_MAP_AUX2"; attitudeParams << "RC_MAP_THROTTLE" << "RC_MAP_YAW" << "RC_MAP_PITCH" << "RC_MAP_ROLL" << "RC_MAP_FLAPS" << "RC_MAP_AUX1" << "RC_MAP_AUX2" << "RC_MAP_ACRO_SW";
attitudeNames << "Throttle" << "Yaw" << "Pitch" << "Roll" << "Flaps" << "Aux1" << "Aux2"; attitudeNames << "Throttle" << "Yaw" << "Pitch" << "Roll" << "Flaps" << "Aux1" << "Aux2" << "Acro";
for (int i=0; i<attitudeParams.count(); i++) { for (int i=0; i<attitudeParams.count(); i++) {
int map = _autoPilotPlugin->getParameterFact(attitudeParams[i])->value().toInt(); int map = _autoPilotPlugin->getParameterFact(attitudeParams[i])->value().toInt();
...@@ -112,6 +112,24 @@ void FlightModesComponentController::_validateConfiguration(void) ...@@ -112,6 +112,24 @@ void FlightModesComponentController::_validateConfiguration(void)
} }
} }
} }
// Check for switches that must be on their own channel
QStringList singleSwitchParams, singleSwitchNames;
singleSwitchParams << "RC_MAP_RETURN_SW" << "RC_MAP_OFFB_SW";
singleSwitchNames << "Return Switch" << "Offboard Switch";
for (int i=0; i<singleSwitchParams.count(); i++) {
int map = _autoPilotPlugin->getParameterFact(singleSwitchParams[i])->value().toInt();
for (int j=0; j<switchParams.count(); j++) {
if (map != 0 && singleSwitchParams[i] != switchParams[j] && map == switchMappings[j]) {
_validConfiguration = false;
_configurationErrors += QString("%1 must be on seperate channel, but is set to same channel as %2.\n").arg(singleSwitchNames[i]).arg(switchParams[j]);
}
}
}
} }
void FlightModesComponentController::setSendLiveRCSwitchRanges(bool start) void FlightModesComponentController::setSendLiveRCSwitchRanges(bool start)
...@@ -190,6 +208,11 @@ double FlightModesComponentController::returnSwitchLiveRange(void) ...@@ -190,6 +208,11 @@ double FlightModesComponentController::returnSwitchLiveRange(void)
return _switchLiveRange("RC_MAP_RETURN_SW"); return _switchLiveRange("RC_MAP_RETURN_SW");
} }
double FlightModesComponentController::offboardSwitchLiveRange(void)
{
return _switchLiveRange("RC_MAP_OFFB_SW");
}
double FlightModesComponentController::loiterSwitchLiveRange(void) double FlightModesComponentController::loiterSwitchLiveRange(void)
{ {
return _switchLiveRange("RC_MAP_LOITER_SW"); return _switchLiveRange("RC_MAP_LOITER_SW");
......
src/AutoPilotPlugins/PX4/FlightModesComponentController.h
View file @ ae3d4965
...@@ -49,16 +49,18 @@ public: ...@@ -49,16 +49,18 @@ public:
Q_PROPERTY(int channelCount MEMBER _channelCount CONSTANT) Q_PROPERTY(int channelCount MEMBER _channelCount CONSTANT)
Q_PROPERTY(double modeSwitchLiveRange READ modeSwitchLiveRange NOTIFY switchLiveRangeChanged) Q_PROPERTY(double modeSwitchLiveRange READ modeSwitchLiveRange NOTIFY switchLiveRangeChanged)
Q_PROPERTY(double returnSwitchLiveRange READ returnSwitchLiveRange NOTIFY switchLiveRangeChanged)
Q_PROPERTY(double loiterSwitchLiveRange READ loiterSwitchLiveRange NOTIFY switchLiveRangeChanged) Q_PROPERTY(double loiterSwitchLiveRange READ loiterSwitchLiveRange NOTIFY switchLiveRangeChanged)
Q_PROPERTY(double posCtlSwitchLiveRange READ posCtlSwitchLiveRange NOTIFY switchLiveRangeChanged) Q_PROPERTY(double posCtlSwitchLiveRange READ posCtlSwitchLiveRange NOTIFY switchLiveRangeChanged)
Q_PROPERTY(double returnSwitchLiveRange READ returnSwitchLiveRange NOTIFY switchLiveRangeChanged)
Q_PROPERTY(double offboardSwitchLiveRange READ offboardSwitchLiveRange NOTIFY switchLiveRangeChanged)
Q_PROPERTY(bool sendLiveRCSwitchRanges READ sendLiveRCSwitchRanges WRITE setSendLiveRCSwitchRanges NOTIFY liveRCSwitchRangesChanged) Q_PROPERTY(bool sendLiveRCSwitchRanges READ sendLiveRCSwitchRanges WRITE setSendLiveRCSwitchRanges NOTIFY liveRCSwitchRangesChanged)
double modeSwitchLiveRange(void); double modeSwitchLiveRange(void);
double returnSwitchLiveRange(void);
double loiterSwitchLiveRange(void); double loiterSwitchLiveRange(void);
double posCtlSwitchLiveRange(void); double posCtlSwitchLiveRange(void);
double returnSwitchLiveRange(void);
double offboardSwitchLiveRange(void);
bool sendLiveRCSwitchRanges(void) { return _liveRCValues; } bool sendLiveRCSwitchRanges(void) { return _liveRCValues; }
void setSendLiveRCSwitchRanges(bool start); void setSendLiveRCSwitchRanges(bool start);
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