PX4 Tuning Component

qgroundcontrol.pro

@@ -586,6 +586,7 @@ HEADERS+= \
     src/AutoPilotPlugins/PX4/SafetyComponent.h \
     src/AutoPilotPlugins/PX4/SensorsComponent.h \
     src/AutoPilotPlugins/PX4/SensorsComponentController.h \
+    src/AutoPilotPlugins/PX4/PX4TuningComponent.h \
     src/FirmwarePlugin/FirmwarePluginManager.h \
     src/FirmwarePlugin/FirmwarePlugin.h \
     src/FirmwarePlugin/APM/APMFirmwarePlugin.h \
@@ -642,6 +643,7 @@ SOURCES += \
     src/AutoPilotPlugins/PX4/SafetyComponent.cc \
     src/AutoPilotPlugins/PX4/SensorsComponent.cc \
     src/AutoPilotPlugins/PX4/SensorsComponentController.cc \
+    src/AutoPilotPlugins/PX4/PX4TuningComponent.cc \
     src/FirmwarePlugin/APM/APMFirmwarePlugin.cc \
     src/FirmwarePlugin/APM/APMParameterMetaData.cc \
     src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc \

qgroundcontrol.qrc

@@ -75,6 +75,7 @@
         <file alias="QGroundControl/Controls/VehicleRotationCal.qml">src/QmlControls/VehicleRotationCal.qml</file>
         <file alias="QGroundControl/Controls/VehicleSummaryRow.qml">src/QmlControls/VehicleSummaryRow.qml</file>
         <file alias="QGroundControl/Controls/ViewWidget.qml">src/ViewWidgets/ViewWidget.qml</file>
+        <file alias="QGroundControl/Controls/FactSliderPanel.qml">src/QmlControls/FactSliderPanel.qml</file>
         <file alias="QGroundControl/FactControls/FactCheckBox.qml">src/FactSystem/FactControls/FactCheckBox.qml</file>
         <file alias="QGroundControl/FactControls/FactComboBox.qml">src/FactSystem/FactControls/FactComboBox.qml</file>
         <file alias="QGroundControl/FactControls/FactLabel.qml">src/FactSystem/FactControls/FactLabel.qml</file>
@@ -105,6 +106,8 @@
         <file alias="QmlTest.qml">src/QmlControls/QmlTest.qml</file>
         <file alias="RadioComponent.qml">src/AutoPilotPlugins/Common/RadioComponent.qml</file>
         <file alias="PX4RadioComponentSummary.qml">src/AutoPilotPlugins/PX4/PX4RadioComponentSummary.qml</file>
+        <file alias="PX4TuningComponentCopter.qml">src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml</file>
+        <file alias="PX4TuningComponentPlane.qml">src/AutoPilotPlugins/PX4/PX4TuningComponentPlane.qml</file>
         <file alias="APMNotSupported.qml">src/AutoPilotPlugins/APM/APMNotSupported.qml</file>
         <file alias="APMCameraComponent.qml">src/AutoPilotPlugins/APM/APMCameraComponent.qml</file>
         <file alias="APMCameraComponentSummary.qml">src/AutoPilotPlugins/APM/APMCameraComponentSummary.qml</file>
@@ -118,8 +121,6 @@
         <file alias="APMSafetyComponentSummaryPlane.qml">src/AutoPilotPlugins/APM/APMSafetyComponentSummaryPlane.qml</file>
         <file alias="APMSafetyComponentSummaryRover.qml">src/AutoPilotPlugins/APM/APMSafetyComponentSummaryRover.qml</file>
         <file alias="APMTuningComponentCopter.qml">src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml</file>
-        <file alias="APMTuningComponentPlane.qml">src/AutoPilotPlugins/APM/APMTuningComponentPlane.qml</file>
-        <file alias="APMTuningComponentRover.qml">src/AutoPilotPlugins/APM/APMTuningComponentRover.qml</file>
         <file alias="SafetyComponent.qml">src/AutoPilotPlugins/PX4/SafetyComponent.qml</file>
         <file alias="SafetyComponentSummary.qml">src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml</file>
         <file alias="SensorsComponent.qml">src/AutoPilotPlugins/PX4/SensorsComponent.qml</file>

src/AutoPilotPlugins/APM/APMTuningComponent.cc

@@ -66,9 +66,6 @@ QUrl APMTuningComponent::setupSource(void) const
     QString qmlFile;
 
     switch (_vehicle->vehicleType()) {
-        case MAV_TYPE_FIXED_WING:
-            qmlFile = "qrc:/qml/APMTuningComponentPlane.qml";
-            break;
         case MAV_TYPE_QUADROTOR:
         case MAV_TYPE_COAXIAL:
         case MAV_TYPE_HELICOPTER:
@@ -77,11 +74,8 @@ QUrl APMTuningComponent::setupSource(void) const
         case MAV_TYPE_TRICOPTER:
             qmlFile = "qrc:/qml/APMTuningComponentCopter.qml";
             break;
-        case MAV_TYPE_GROUND_ROVER:
-            qmlFile = "qrc:/qml/APMTuningComponentRover.qml";
-            break;
         default:
-            qmlFile = "qrc:/qml/APMNotSupported.qml";
+            // No tuning panel
             break;
     }
 

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -95,34 +95,32 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
         
         if (parametersReady()) {
             _airframeComponent = new AirframeComponent(_vehicle, this);
-            Q_CHECK_PTR(_airframeComponent);
             _airframeComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
             
             _radioComponent = new PX4RadioComponent(_vehicle, this);
-            Q_CHECK_PTR(_radioComponent);
             _radioComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
             
             _flightModesComponent = new FlightModesComponent(_vehicle, this);
-            Q_CHECK_PTR(_flightModesComponent);
             _flightModesComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));
             
             _sensorsComponent = new SensorsComponent(_vehicle, this);
-            Q_CHECK_PTR(_sensorsComponent);
             _sensorsComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
             
             _powerComponent = new PowerComponent(_vehicle, this);
-            Q_CHECK_PTR(_powerComponent);
             _powerComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_powerComponent));
             
             _safetyComponent = new SafetyComponent(_vehicle, this);
-            Q_CHECK_PTR(_safetyComponent);
             _safetyComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent));
+
+            _tuningComponent = new PX4TuningComponent(_vehicle, this);
+            _tuningComponent->setupTriggerSignals();
+            _components.append(QVariant::fromValue((VehicleComponent*)_tuningComponent));
         } else {
             qWarning() << "Call to vehicleCompenents prior to parametersReady";
         }

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h

@@ -32,6 +32,7 @@
 #include "SensorsComponent.h"
 #include "SafetyComponent.h"
 #include "PowerComponent.h"
+#include "PX4TuningComponent.h"
 #include "Vehicle.h"
 
 #include <QImage>
@@ -58,6 +59,7 @@ public:
     SensorsComponent*       sensorsComponent(void)      { return _sensorsComponent; }
     SafetyComponent*        safetyComponent(void)       { return _safetyComponent; }
     PowerComponent*         powerComponent(void)        { return _powerComponent; }
+    PX4TuningComponent*     tuningComponent(void)       { return _tuningComponent; }
 
 public slots:
     // FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle
@@ -72,6 +74,7 @@ private:
     SensorsComponent*       _sensorsComponent;
     SafetyComponent*        _safetyComponent;
     PowerComponent*         _powerComponent;
+    PX4TuningComponent*     _tuningComponent;
     bool                    _incorrectParameterVersion; ///< true: parameter version incorrect, setup not allowed
 };
 

src/AutoPilotPlugins/PX4/PX4TuningComponent.cc

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+#include "PX4TuningComponent.h"
+#include "PX4AutoPilotPlugin.h"
+#include "AirframeComponent.h"
+
+PX4TuningComponent::PX4TuningComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
+    : PX4Component(vehicle, autopilot, parent)
+    , _name("Tuning")
+{
+}
+
+QString PX4TuningComponent::name(void) const
+{
+    return _name;
+}
+
+QString PX4TuningComponent::description(void) const
+{
+    return tr("The Tuning Component is used to tune the flight characteristics of the Vehicle.");
+}
+
+QString PX4TuningComponent::iconResource(void) const
+{
+    return "/qmlimages/TuningComponentIcon.png";
+}
+
+bool PX4TuningComponent::requiresSetup(void) const
+{
+    return false;
+}
+
+bool PX4TuningComponent::setupComplete(void) const
+{
+    return true;
+}
+
+QStringList PX4TuningComponent::setupCompleteChangedTriggerList(void) const
+{
+    return QStringList();
+}
+
+QUrl PX4TuningComponent::setupSource(void) const
+{
+    QString qmlFile;
+
+    switch (_vehicle->vehicleType()) {
+        case MAV_TYPE_FIXED_WING:
+            qmlFile = "qrc:/qml/PX4TuningComponentPlane.qml";
+            break;
+        case MAV_TYPE_QUADROTOR:
+        case MAV_TYPE_COAXIAL:
+        case MAV_TYPE_HELICOPTER:
+        case MAV_TYPE_HEXAROTOR:
+        case MAV_TYPE_OCTOROTOR:
+        case MAV_TYPE_TRICOPTER:
+            qmlFile = "qrc:/qml/PX4TuningComponentCopter.qml";
+            break;
+        default:
+            break;
+    }
+
+    return QUrl::fromUserInput(qmlFile);
+}
+
+QUrl PX4TuningComponent::summaryQmlSource(void) const
+{
+    return QUrl();
+}
+
+QString PX4TuningComponent::prerequisiteSetup(void) const
+{
+    PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
+    if (plugin) {
+        if (!plugin->airframeComponent()->setupComplete()) {
+            return plugin->airframeComponent()->name();
+        }
+    }
+
+    qWarning() << "Internal error: plugin cast failed";
+    return QString();
+}

src/AutoPilotPlugins/APM/APMTuningComponentPlane.qml → src/AutoPilotPlugins/PX4/PX4TuningComponent.h

 /*=====================================================================
-
+ 
  QGroundControl Open Source Ground Control Station
-
- (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
  This file is part of the QGROUNDCONTROL project
-
+ 
  QGROUNDCONTROL is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.
-
+ 
  QGROUNDCONTROL is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.
-
+ 
  You should have received a copy of the GNU General Public License
  along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
+ 
  ======================================================================*/
 
-import QtQuick 2.5
-
-import QGroundControl.Controls 1.0
-
-QGCLabel {
-    anchors.fill:           parent
-    text:                   "Not supported"
-    horizontalAlignment:    Text.AlignHCenter
-    verticalAlignment:      Text.AlignVCenter
-}
+#ifndef PX4TuningComponent_H
+#define PX4TuningComponent_H
+
+#include "PX4Component.h"
+
+class PX4TuningComponent : public PX4Component
+{
+    Q_OBJECT
+    
+public:
+    PX4TuningComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    
+    // Virtuals from PX4Component
+    virtual QStringList setupCompleteChangedTriggerList(void) const;
+    
+    // Virtuals from VehicleComponent
+    virtual QString name(void) const;
+    virtual QString description(void) const;
+    virtual QString iconResource(void) const;
+    virtual bool requiresSetup(void) const;
+    virtual bool setupComplete(void) const;
+    virtual QUrl setupSource(void) const;
+    virtual QUrl summaryQmlSource(void) const;
+    virtual QString prerequisiteSetup(void) const;
+    
+private:
+    const QString   _name;
+};
+
+#endif

src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+import QtQuick              2.5
+import QtQuick.Controls     1.4
+
+import QGroundControl.Controls  1.0
+
+FactSliderPanel {
+    anchors.fill: parent
+
+    sliderModel: ListModel {
+        ListElement {
+            title:          "Roll sensitivity"
+            description:    "Slide to the left to make roll control faster and more accurate. Slide to the right if roll oscillates or is too twitchy."
+            param:          "MC_ROLL_TC"
+            min:            0
+            max:            100
+            step:           1
+        }
+
+        ListElement {
+            title:          "Pitch sensitivity"
+            description:    "Slide to the left to make pitch control faster and more accurate. Slide to the right if pitch oscillates or is too twitchy."
+            param:          "MC_PITCH_TC"
+            min:            0
+            max:            100
+            step:           1
+        }
+
+        ListElement {
+            title:          "Altitude control sensitivity"
+            description:    "Slide to the left to make altitude control smoother and less twitchy. Slide to the right to make altitude control more accurate and more aggressive."
+            param:          "MPC_Z_FF"
+            min:            0
+            max:            100
+            step:           1
+        }
+
+        ListElement {
+            title:          "Position control sensitivity"
+            description:    "Slide to the left to make flight in position control mode smoother and less twitchy. Slide to the right to make position control more accurate and more aggressive."
+            param:          "MPC_XY_FF"
+            min:            0
+            max:            100
+            step:           1
+        }
+    }
+}

src/AutoPilotPlugins/APM/APMTuningComponentRover.qml → src/AutoPilotPlugins/PX4/PX4TuningComponentPlane.qml

@@ -21,13 +21,49 @@
 
  ======================================================================*/
 
-import QtQuick 2.5
+import QtQuick              2.5
+import QtQuick.Controls     1.4
 
-import QGroundControl.Controls 1.0
+import QGroundControl.Controls  1.0
 
-QGCLabel {
-    anchors.fill:           parent
-    text:                   "Not supported"
-    horizontalAlignment:    Text.AlignHCenter
-    verticalAlignment:      Text.AlignVCenter
+FactSliderPanel {
+    anchors.fill: parent
+
+    sliderModel: ListModel {
+        ListElement {
+            title:          "Roll sensitivity"
+            description:    "Slide to the left to make roll control faster and more accurate. Slide to the right if roll oscillates or is too twitchy."
+            param:          "FW_R_TC"
+            min:            0
+            max:            100
+            step:           1
+        }
+
+        ListElement {
+            title:          "Pitch sensitivity"
+            description:    "Slide to the left to make pitch control faster and more accurate. Slide to the right if pitch oscillates or is too twitchy."
+            param:          "FW_P_TC"
+            min:            0
+            max:            100
+            step:           1
+        }
+
+        ListElement {
+            title:          "Cruise throttle"
+            description:    "This is the throttle setting required to achieve the desired cruise speed."
+            param:          "FW_THR_CRUISE"
+            min:            0
+            max:            100
+            step:           1
+        }
+
+        ListElement {
+            title:          "Position control sensitivity"
+            description:    "Slide to the left to make flight in position control mode smoother and less twitchy. Slide to the right to make position control more accurate and more aggressive."
+            param:          "FW_L1_PERIOD"
+            min:            0
+            max:            100
+            step:           1
+        }
+    }
 }

src/QmlControls/FactSliderPanel.qml

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+import QtQuick              2.5
+import QtQuick.Controls     1.4
+
+import QGroundControl.FactSystem    1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.ScreenTools   1.0
+
+QGCView {
+    viewPanel: panel
+
+    property string panelTitle: "Title" ///< Title for panel
+
+    /// ListModel must contains elements which look like this:
+    ///     ListElement {
+    ///         title:          "Roll sensitivity"
+    ///         description:    "Slide to the left to make roll control faster and more accurate. Slide to the right if roll oscillates or is too twitchy."
+    ///         param:          "MC_ROLL_TC"
+    ///         min:            0
+    ///         max:            100
+    ///         step:           1
+    ///     }
+    property ListModel sliderModel
+
+    FactPanelController { id: controller; factPanel: panel }
+
+    QGCPalette { id: palette; colorGroupEnabled: enabled }
+    property real _margins: ScreenTools.defaultFontPixelHeight
+
+    property bool _loadComplete: false
+
+    Component.onCompleted: {
+        // Qml Sliders have a strange behavior in which they first set Slider::value to some internal
+        // setting and then set Slider::value to the bound properties value. If you have an onValueChanged
+        // handler which updates your property with the new value, this first value change will trash
+        // your bound values. In order to work around this we don't set the values into the Sliders until
+        // after Qml load is done. We also don't track value changes until Qml load completes.
+        for (var i=0; i<sliderModel.count; i++) {
+            sliderRepeater.itemAt(i).sliderValue = controller.getParameterFact(-1, sliderModel.get(i).param).value
+        }
+        _loadComplete = true
+    }
+
+    QGCViewPanel {
+        id:             panel
+        anchors.fill:   parent
+
+        Flickable {
+            clip:               true
+            anchors.fill:       parent
+            boundsBehavior:     Flickable.StopAtBounds
+            contentHeight:      sliderRect.y + sliderRect.height
+            flickableDirection: Flickable.VerticalFlick
+
+            QGCLabel {
+                id:             panelLabel
+                text:           panelTitle
+                font.weight:    Font.DemiBold
+            }
+
+            Rectangle {
+                id:                 sliderRect
+                anchors.topMargin:  _margins / 2
+                anchors.left:       parent.left
+                anchors.right:      parent.right
+                anchors.top:        panelLabel.bottom
+                height:             sliderColumns.y + sliderColumns.height + _margins
+                color:              palette.windowShade
+
+                Column {
+                    id:                 sliderColumns
+                    anchors.margins:    _margins
+                    anchors.left:       parent.left
+                    anchors.right:      parent.right
+                    anchors.top:        parent.top
+                    spacing:            _margins
+
+                    Repeater {
+                        id:     sliderRepeater
+                        model:  sliderModel
+
+                        Column {
+                            anchors.left:   parent.left
+                            anchors.right:  parent.right
+
+                            property alias sliderValue: slider.value
+
+                            QGCLabel {
+                                text:           title
+                                font.weight:    Font.DemiBold
+                            }
+
+                            QGCLabel {
+                                text: description
+                            }
+
+                            Slider {
+                                id:                 slider
+                                anchors.left:       parent.left
+                                anchors.right:      parent.right
+                                minimumValue:       min
+                                maximumValue:       max
+                                stepSize:           step
+                                tickmarksEnabled:   true
+
+                                property Fact fact: controller.getParameterFact(-1, param)
+
+                                onValueChanged: {
+                                    if (_loadComplete) {
+                                        fact.value = value
+                                    }
+                                }
+                            }
+                        } // Column
+                    } // Repeater
+                } // Column
+            } // Rectangle
+        } // Flickable
+    } // QGCViewPanel
+} // QGCView

src/QmlControls/QGroundControl.Controls.qmldir

@@ -3,6 +3,7 @@ Module QGroundControl.Controls
 ClickableColor          1.0 ClickableColor.qml
 DropButton              1.0 DropButton.qml
 ExclusiveGroupItem      1.0 ExclusiveGroupItem.qml
+FactSliderPanel         1.0 FactSliderPanel.qml
 IndicatorButton         1.0 IndicatorButton.qml
 JoystickThumbPad        1.0 JoystickThumbPad.qml
 MainToolBar             1.0 MainToolBar.qml

src/comm/PX4MockLink.params

@@ -250,10 +250,12 @@
 1	50	MC_PITCHRATE_I	                        0	9
 1	50	MC_PITCHRATE_P	                     0.13	9
 1	50	MC_PITCH_P	                        7	9
+1	50	MC_PITCH_TC	0.200	9
 1	50	MC_ROLLRATE_D	                    0.004	9
 1	50	MC_ROLLRATE_I	                        0	9
 1	50	MC_ROLLRATE_P	                     0.13	9
 1	50	MC_ROLL_P	                        7	9
+1	50	MC_ROLL_TC	0.200	9
 1	50	MC_YAWRATE_D	                        0	9
 1	50	MC_YAWRATE_I	                     0.25	9
 1	50	MC_YAWRATE_MAX	                      120	9