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Commit b69a146e authored by Don Gagne's avatar Don Gagne
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New Flight Mode config

parent af2d735d
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Showing with 1198 additions and 24 deletions
qgroundcontrol.pro
View file @ b69a146e
......@@ -676,7 +676,6 @@ HEADERS += \
src/qgcunittest/PX4RCCalibrationTest.h \
src/qgcunittest/LinkManagerTest.h \
src/qgcunittest/MainWindowTest.h \
src/AutoPilotPlugins/PX4/Tests/FlightModeConfigTest.h \
src/qgcunittest/MavlinkLogTest.h \
src/FactSystem/FactSystemTestBase.h \
src/FactSystem/FactSystemTestPX4.h \
......@@ -702,7 +701,6 @@ SOURCES += \
src/qgcunittest/PX4RCCalibrationTest.cc \
src/qgcunittest/LinkManagerTest.cc \
src/qgcunittest/MainWindowTest.cc \
src/AutoPilotPlugins/PX4/Tests/FlightModeConfigTest.cc \
src/qgcunittest/MavlinkLogTest.cc \
src/FactSystem/FactSystemTestBase.cc \
src/FactSystem/FactSystemTestPX4.cc \
......@@ -722,7 +720,6 @@ INCLUDEPATH += \
FORMS += \
src/VehicleSetup/ParameterEditor.ui \
src/ui/QGCPX4VehicleConfig.ui \
src/AutoPilotPlugins/PX4/FlightModeConfig.ui \
src/VehicleSetup/SetupView.ui \
HEADERS+= \
......@@ -740,7 +737,7 @@ HEADERS+= \
src/AutoPilotPlugins/PX4/PX4Component.h \
src/AutoPilotPlugins/PX4/RadioComponent.h \
src/AutoPilotPlugins/PX4/FlightModesComponent.h \
src/AutoPilotPlugins/PX4/FlightModeConfig.h \
src/AutoPilotPlugins/PX4/FlightModesComponentController.h \
src/AutoPilotPlugins/PX4/AirframeComponent.h \
src/AutoPilotPlugins/PX4/SensorsComponent.h \
src/AutoPilotPlugins/PX4/SensorsComponentController.h \
......@@ -762,7 +759,7 @@ SOURCES += \
src/AutoPilotPlugins/PX4/PX4Component.cc \
src/AutoPilotPlugins/PX4/RadioComponent.cc \
src/AutoPilotPlugins/PX4/FlightModesComponent.cc \
src/AutoPilotPlugins/PX4/FlightModeConfig.cc \
src/AutoPilotPlugins/PX4/FlightModesComponentController.cc \
src/AutoPilotPlugins/PX4/AirframeComponent.cc \
src/AutoPilotPlugins/PX4/SensorsComponent.cc \
src/AutoPilotPlugins/PX4/SensorsComponentController.cc \
......
qgroundcontrol.qrc
View file @ b69a146e
......@@ -247,15 +247,14 @@
<qresource prefix="/qml">
<file alias="test.qml">src/test.qml</file>
<file alias="QmlTest.qml">src/QmlControls/QmlTest.qml</file>
<file alias="QGroundControl/FactControls/qmldir">src/FactSystem/FactControls/qmldir</file>
<file alias="QGroundControl/FactControls/FactLabel.qml">src/FactSystem/FactControls/FactLabel.qml</file>
<file alias="QGroundControl/FactControls/FactTextField.qml">src/FactSystem/FactControls/FactTextField.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/Controls/qmldir">src/QmlControls/qmldir</file>
<file alias="QGroundControl/Controls/SubMenuButton.qml">src/QmlControls/SubMenuButton.qml</file>
<file alias="QGroundControl/Controls/IndicatorButton.qml">src/QmlControls/IndicatorButton.qml</file>
<file alias="QGroundControl/Controls/VehicleRotationCal.qml">src/QmlControls/VehicleRotationCal.qml</file>
<file alias="QGroundControl/Controls/QGCButton.qml">src/QmlControls/QGCButton.qml</file>
<file alias="QGroundControl/Controls/QGCRadioButton.qml">src/QmlControls/QGCRadioButton.qml</file>
<file alias="QGroundControl/Controls/QGCCheckBox.qml">src/QmlControls/QGCCheckBox.qml</file>
......@@ -263,21 +262,31 @@
<file alias="QGroundControl/Controls/QGCTextField.qml">src/QmlControls/QGCTextField.qml</file>
<file alias="QGroundControl/Controls/QGCComboBox.qml">src/QmlControls/QGCComboBox.qml</file>
<file alias="QGroundControl/Controls/QGCColoredImage.qml">src/QmlControls/QGCColoredImage.qml</file>
<file alias="QGroundControl/Controls/arrow-down.png">src/QmlControls/arrow-down.png</file>
<file alias="QGroundControl/Controls/QGCToolBarButton.qml">src/QmlControls/QGCToolBarButton.qml</file>
<file alias="QGroundControl/Controls/SubMenuButton.qml">src/QmlControls/SubMenuButton.qml</file>
<file alias="QGroundControl/Controls/IndicatorButton.qml">src/QmlControls/IndicatorButton.qml</file>
<file alias="QGroundControl/Controls/VehicleRotationCal.qml">src/QmlControls/VehicleRotationCal.qml</file>
<file alias="QGroundControl/Controls/arrow-down.png">src/QmlControls/arrow-down.png</file>
<file alias="octo_x.png">files/images/px4/airframes/octo_x.png</file>
<file alias="px4fmu_2.x.png">files/images/px4/boards/px4fmu_2.x.png</file>
<file alias="SetupViewButtons.qml">src/VehicleSetup/SetupViewButtons.qml</file>
<file alias="VehicleSummary.qml">src/VehicleSetup/VehicleSummary.qml</file>
<file alias="FirmwareUpgrade.qml">src/VehicleSetup/FirmwareUpgrade.qml</file>
<file alias="SafetyComponent.qml">src/AutoPilotPlugins/PX4/SafetyComponent.qml</file>
<file alias="SensorsComponent.qml">src/AutoPilotPlugins/PX4/SensorsComponent.qml</file>
<file alias="FlightModesComponent.qml">src/AutoPilotPlugins/PX4/FlightModesComponent.qml</file>
<file alias="SafetyComponentSummary.qml">src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml</file>
<file alias="SensorsComponentSummary.qml">src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml</file>
<file alias="SensorsComponentSummaryFixedWing.qml">src/AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml</file>
<file alias="RadioComponentSummary.qml">src/AutoPilotPlugins/PX4/RadioComponentSummary.qml</file>
<file alias="FlightModesComponentSummary.qml">src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml</file>
<file alias="AirframeComponentSummary.qml">src/AutoPilotPlugins/PX4/AirframeComponentSummary.qml</file>
<file alias="SafetyComponentTree.png">src/AutoPilotPlugins/PX4/Images/SafetyComponentTree.png</file>
<file alias="SafetyComponentHome.png">src/AutoPilotPlugins/PX4/Images/SafetyComponentHome.png</file>
<file alias="SafetyComponentArrowDown.png">src/AutoPilotPlugins/PX4/Images/SafetyComponentArrowDown.png</file>
......@@ -288,6 +297,7 @@
<file alias="VehicleRight.png">src/AutoPilotPlugins/PX4/Images/VehicleRight.png</file>
<file alias="VehicleNoseDown.png">src/AutoPilotPlugins/PX4/Images/VehicleNoseDown.png</file>
<file alias="VehicleTailDown.png">src/AutoPilotPlugins/PX4/Images/VehicleTailDown.png</file>
<file alias="QGroundControl/Controls/subMenuButtonImage.png">files/Setup/cogwheels.png</file>
<file alias="QGroundControl/Controls/SensorsComponentIcon.png">src/AutoPilotPlugins/PX4/Images/SensorsComponentIcon.png</file>
<file alias="QGroundControl/Controls/RadioComponentIcon.png">src/AutoPilotPlugins/PX4/Images/RadioComponentIcon.png</file>
......@@ -296,6 +306,7 @@
<file alias="QGroundControl/Controls/SafetyComponentIcon.png">src/AutoPilotPlugins/PX4/Images/SafetyComponentIcon.png</file>
<file alias="QGroundControl/Controls/FirmwareUpgradeIcon.png">src/VehicleSetup/FirmwareUpgradeIcon.png</file>
<file alias="QGroundControl/Controls/VehicleSummaryIcon.png">src/VehicleSetup/VehicleSummaryIcon.png</file>
<file alias="MainToolBar.qml">src/ui/toolbar/MainToolBar.qml</file>
</qresource>
<qresource prefix="/AutoPilotPlugins/PX4">
......
src/AutoPilotPlugins/PX4/FlightModesComponent.cc
View file @ b69a146e
......@@ -25,8 +25,8 @@
/// @author Don Gagne <don@thegagnes.com>
#include "FlightModesComponent.h"
#include "FlightModeConfig.h"
#include "PX4AutoPilotPlugin.h"
#include "QGCQmlWidgetHolder.h"
struct SwitchListItem {
const char* param;
......@@ -111,7 +111,14 @@ QStringList FlightModesComponent::paramFilterList(void) const
QWidget* FlightModesComponent::setupWidget(void) const
{
return new FlightModeConfig();
QGCQmlWidgetHolder* holder = new QGCQmlWidgetHolder();
Q_CHECK_PTR(holder);
holder->setAutoPilot(_autopilot);
holder->setSource(QUrl::fromUserInput("qrc:/qml/FlightModesComponent.qml"));
return holder;
}
QUrl FlightModesComponent::summaryQmlSource(void) const
......
src/AutoPilotPlugins/PX4/FlightModesComponent.qml 0 → 100644
View file @ b69a146e
This diff is collapsed.
src/AutoPilotPlugins/PX4/FlightModesComponentController.cc 0 → 100644
View file @ b69a146e
/*=====================================================================
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/>.
======================================================================*/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#include "FlightModesComponentController.h"
#include "QGCMAVLink.h"
#include "UASManager.h"
#include "AutoPilotPluginManager.h"
#include <QVariant>
#include <QQmlProperty>
FlightModesComponentController::FlightModesComponentController(QObject* parent) :
QObject(parent),
_liveRCValues(false),
_validConfiguration(false),
_channelCount(18),
_autoPilotPlugin(NULL)
{
_uas = UASManager::instance()->getActiveUAS();
Q_ASSERT(_uas);
_autoPilotPlugin = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uas);
Q_ASSERT(_autoPilotPlugin);
Q_ASSERT(_autoPilotPlugin->pluginIsReady());
_initRcValues();
_validateConfiguration();
}
FlightModesComponentController::~FlightModesComponentController()
{
setSendLiveRCSwitchRanges(false);
}
void FlightModesComponentController::_initRcValues(void)
{
for (int i=0; i<_chanMax; i++) {
_rcValues << 1.0;
}
}
/// This will look for parameter settings which would cause the config to not run correctly.
/// It will set _validConfiguration and _configurationErrors as needed.
void FlightModesComponentController::_validateConfiguration(void)
{
_validConfiguration = true;
_channelCount = _autoPilotPlugin->factExists("RC_CHAN_CNT") ? _autoPilotPlugin->getFact("RC_CHAN_CNT")->value().toInt() : 18;
// Make sure switches are valid and within channel range
QStringList switchParams, switchNames;
QList<int> switchMappings;
switchParams << "RC_MAP_MODE_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_POSCTL_SW";
switchNames << "Mode Switch" << "Return Switch" << "Loiter Switch" << "PosCtl Switch";
for(int i=0; i<switchParams.count(); i++) {
int map = _autoPilotPlugin->getFact(switchParams[i])->value().toInt();
switchMappings << map;
if (map < 0 || map > _channelCount) {
_validConfiguration = false;
_configurationErrors += QString("%1 is set to %2. Mapping must between 0 and %3 (inclusive).\n").arg(switchNames[i]).arg(map).arg(_channelCount);
}
}
// Make sure switches are not mapped to attitude control channels
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";
attitudeNames << "Throttle" << "Yaw" << "Pitch" << "Roll" << "Flaps" << "Aux1" << "Aux2";
for (int i=0; i<attitudeParams.count(); i++) {
int map = _autoPilotPlugin->getFact(attitudeParams[i])->value().toInt();
for (int j=0; j<switchParams.count(); j++) {
if (map != 0 && map == switchMappings[j]) {
_validConfiguration = false;
_configurationErrors += QString("%1 is set to same channel as %2.\n").arg(switchNames[j]).arg(attitudeNames[i]);
}
}
}
}
void FlightModesComponentController::setSendLiveRCSwitchRanges(bool start)
{
if (start) {
// We need to know min and max for channel in order to calculate percentage range
for (int i=0; i<_chanMax; i++) {
QString rcMinParam, rcMaxParam, rcRevParam;
rcMinParam = QString("RC%1_MIN").arg(i+1);
rcMaxParam = QString("RC%1_MAX").arg(i+1);
rcRevParam = QString("RC%1_REV").arg(i+1);
QVariant value;
_rgRCMin[i] = _autoPilotPlugin->getFact(rcMinParam)->value().toInt();
_rgRCMax[i] = _autoPilotPlugin->getFact(rcMaxParam)->value().toInt();
float floatReversed = _autoPilotPlugin->getFact(rcRevParam)->value().toFloat();
_rgRCReversed[i] = floatReversed == -1.0f;
}
_uas->startRadioControlCalibration();
connect(_uas, &UASInterface::remoteControlChannelRawChanged, this, &FlightModesComponentController::_remoteControlChannelRawChanged);
} else {
disconnect(_uas, &UASInterface::remoteControlChannelRawChanged, this, &FlightModesComponentController::_remoteControlChannelRawChanged);
_uas->endRadioControlCalibration();
_initRcValues();
emit switchLiveRangeChanged();
}
}
/// @brief This routine is called whenever a raw value for an RC channel changes.
/// @param chan RC channel on which signal is coming from (0-based)
/// @param fval Current value for channel
void FlightModesComponentController::_remoteControlChannelRawChanged(int chan, float fval)
{
Q_ASSERT(chan >= 0 && chan <= _chanMax);
if (fval < _rgRCMin[chan]) {
fval= _rgRCMin[chan];
}
if (fval > _rgRCMax[chan]) {
fval= _rgRCMax[chan];
}
float percentRange = (fval - _rgRCMin[chan]) / (float)(_rgRCMax[chan] - _rgRCMin[chan]);
if (_rgRCReversed[chan]) {
percentRange = 1.0 - percentRange;
}
_rcValues[chan] = percentRange;
emit switchLiveRangeChanged();
}
double FlightModesComponentController::_switchLiveRange(const QString& param)
{
QVariant value;
int channel = _autoPilotPlugin->getFact(param)->value().toInt();
if (channel == 0) {
return 1.0;
} else {
return _rcValues[channel - 1];
}
}
double FlightModesComponentController::modeSwitchLiveRange(void)
{
return _switchLiveRange("RC_MAP_MODE_SW");
}
double FlightModesComponentController::returnSwitchLiveRange(void)
{
return _switchLiveRange("RC_MAP_RETURN_SW");
}
double FlightModesComponentController::loiterSwitchLiveRange(void)
{
return _switchLiveRange("RC_MAP_LOITER_SW");
}
double FlightModesComponentController::posCtlSwitchLiveRange(void)
{
return _switchLiveRange("RC_MAP_POSCTL_SW");
}
src/AutoPilotPlugins/PX4/FlightModesComponentController.h 0 → 100644
View file @ b69a146e
/*=====================================================================
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/>.
======================================================================*/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#ifndef FLIGHTMODESCOMPONENTCONTROLLER_H
#define FLIGHTMODESCOMPONENTCONTROLLER_H
#include <QObject>
#include <QQuickItem>
#include <QList>
#include "UASInterface.h"
#include "AutoPilotPlugin.h"
/// MVC Controller for FlightModesComponent.qml.
class FlightModesComponentController : public QObject
{
Q_OBJECT
public:
FlightModesComponentController(QObject* parent = NULL);
~FlightModesComponentController();
Q_PROPERTY(bool validConfiguration MEMBER _validConfiguration CONSTANT)
Q_PROPERTY(QString configurationErrors MEMBER _configurationErrors CONSTANT)
Q_PROPERTY(int channelCount MEMBER _channelCount CONSTANT)
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 posCtlSwitchLiveRange READ posCtlSwitchLiveRange NOTIFY switchLiveRangeChanged)
Q_PROPERTY(bool sendLiveRCSwitchRanges READ sendLiveRCSwitchRanges WRITE setSendLiveRCSwitchRanges NOTIFY liveRCSwitchRangesChanged)
double modeSwitchLiveRange(void);
double returnSwitchLiveRange(void);
double loiterSwitchLiveRange(void);
double posCtlSwitchLiveRange(void);
bool sendLiveRCSwitchRanges(void) { return _liveRCValues; }
void setSendLiveRCSwitchRanges(bool start);
signals:
void switchLiveRangeChanged(void);
void liveRCSwitchRangesChanged(void);
private slots:
void _remoteControlChannelRawChanged(int chan, float fval);
private:
double _switchLiveRange(const QString& param);
void _initRcValues(void);
void _validateConfiguration(void);
static const int _chanMax = 18;
UASInterface* _uas;
QList<double> _rcValues;
bool _liveRCValues;
int _rgRCMin[_chanMax];
int _rgRCMax[_chanMax];
bool _rgRCReversed[_chanMax];
bool _validConfiguration;
QString _configurationErrors;
int _channelCount;
AutoPilotPlugin* _autoPilotPlugin;
};
#endif
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
View file @ b69a146e
......@@ -26,7 +26,7 @@
#include "UASManager.h"
#include "QGCUASParamManagerInterface.h"
#include "PX4ParameterFacts.h"
#include "SensorsComponentController.h"
#include "FlightModesComponentController.h"
#include "QGCMessageBox.h"
/// @file
......@@ -74,6 +74,8 @@ PX4AutoPilotPlugin::PX4AutoPilotPlugin(UASInterface* uas, QObject* parent) :
{
Q_ASSERT(uas);
qmlRegisterType<FlightModesComponentController>("QGroundControl.Controllers", 1, 0, "FlightModesComponentController");
_parameterFacts = new PX4ParameterFacts(uas, this);
Q_CHECK_PTR(_parameterFacts);
......
src/FactSystem/Fact.h
View file @ b69a146e
......@@ -108,7 +108,7 @@ signals:
/// Signalled when property has been changed by a call to the property write accessor
///
/// This signal is meant for use by Fact container implementations.
void _containerValueChanged(QVariant& value);
void _containerValueChanged(const QVariant& value);
private:
QString _name;
......
src/FactSystem/FactLoader.cc
View file @ b69a146e
......@@ -57,11 +57,7 @@ FactLoader::FactLoader(UASInterface* uas, QObject* parent) :
FactLoader::~FactLoader()
{
foreach(Fact* fact, _mapFact2ParameterName.keys()) {
delete fact;
}
_mapParameterName2Variant.clear();
_mapFact2ParameterName.clear();
}
/// Called whenever a parameter is updated or first seen.
......@@ -141,7 +137,7 @@ void FactLoader::_parameterUpdate(int uas, int component, QString parameterName,
/// Connected to Fact::valueUpdated
///
/// Sets the new value into the Parameter Manager. Parameter is persisted after send.
void FactLoader::_valueUpdated(QVariant value)
void FactLoader::_valueUpdated(const QVariant& value)
{
Fact* fact = qobject_cast<Fact*>(sender());
Q_ASSERT(fact);
......
src/FactSystem/FactLoader.h
View file @ b69a146e
......@@ -65,7 +65,7 @@ protected:
private slots:
void _parameterUpdate(int uas, int component, QString parameterName, int mavType, QVariant value);
void _valueUpdated(QVariant value);
void _valueUpdated(const QVariant& value);
void _paramMgrParameterListUpToDate(void);
private:
......
src/qgcunittest/MockLink.param
View file @ b69a146e
......@@ -389,22 +389,22 @@
1 50 RC1_MAX 2000 9
1 50 RC1_MIN 1000 9
1 50 RC1_REV 1 9
1 50 RC1_TRIM 1500 9
1 50 RC1_TRIM 1501 9
1 50 RC2_DZ 10 9
1 50 RC2_MAX 2000 9
1 50 RC2_MIN 1000 9
1 50 RC2_REV 1 9
1 50 RC2_TRIM 1500 9
1 50 RC2_TRIM 1501 9
1 50 RC3_DZ 10 9
1 50 RC3_MAX 2000 9
1 50 RC3_MIN 1000 9
1 50 RC3_REV 1 9
1 50 RC3_TRIM 1500 9
1 50 RC3_TRIM 1501 9
1 50 RC4_DZ 10 9
1 50 RC4_MAX 2000 9
1 50 RC4_MIN 1000 9
1 50 RC4_REV 1 9
1 50 RC4_TRIM 1500 9
1 50 RC4_TRIM 1501 9
1 50 RC5_DZ 10 9
1 50 RC5_MAX 2000 9
1 50 RC5_MIN 1000 9
......
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