APM Radio Config

Refactored PX4 radio config to work with both PX4 and APM

qgroundcontrol.pro

@@ -499,7 +499,7 @@ HEADERS += \
     src/qgcunittest/MavlinkLogTest.h \
     src/qgcunittest/MessageBoxTest.h \
     src/qgcunittest/MultiSignalSpy.h \
-    src/qgcunittest/PX4RCCalibrationTest.h \
+    src/qgcunittest/RadioConfigTest.h \
     src/qgcunittest/TCPLinkTest.h \
     src/qgcunittest/TCPLoopBackServer.h \
     src/qgcunittest/UnitTest.h \
@@ -522,7 +522,7 @@ SOURCES += \
     src/qgcunittest/MavlinkLogTest.cc \
     src/qgcunittest/MessageBoxTest.cc \
     src/qgcunittest/MultiSignalSpy.cc \
-    src/qgcunittest/PX4RCCalibrationTest.cc \
+    src/qgcunittest/RadioConfigTest.cc \
     src/qgcunittest/TCPLinkTest.cc \
     src/qgcunittest/TCPLoopBackServer.cc \
     src/qgcunittest/UnitTest.cc \
@@ -536,6 +536,7 @@ SOURCES += \
 #
 
 INCLUDEPATH += \
+    src/AutoPilotPlugins/Common \
     src/AutoPilotPlugins/PX4 \
     src/FirmwarePlugin \
     src/Vehicle \
@@ -547,6 +548,8 @@ HEADERS+= \
     src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h \
     src/AutoPilotPlugins/APM/APMAirframeComponent.h \
     src/AutoPilotPlugins/APM/APMComponent.h \
+    src/AutoPilotPlugins/APM/APMRadioComponent.h \
+    src/AutoPilotPlugins/Common/RadioComponentController.h \
     src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h \
     src/AutoPilotPlugins/PX4/AirframeComponent.h \
     src/AutoPilotPlugins/PX4/AirframeComponentAirframes.h \
@@ -557,8 +560,7 @@ HEADERS+= \
     src/AutoPilotPlugins/PX4/PowerComponentController.h \
     src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h \
     src/AutoPilotPlugins/PX4/PX4Component.h \
-    src/AutoPilotPlugins/PX4/RadioComponent.h \
-    src/AutoPilotPlugins/PX4/RadioComponentController.h \
+    src/AutoPilotPlugins/PX4/PX4RadioComponent.h \
     src/AutoPilotPlugins/PX4/SafetyComponent.h \
     src/AutoPilotPlugins/PX4/SensorsComponent.h \
     src/AutoPilotPlugins/PX4/SensorsComponentController.h \
@@ -591,6 +593,8 @@ SOURCES += \
     src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc \
     src/AutoPilotPlugins/APM/APMAirframeComponent.cc \
     src/AutoPilotPlugins/APM/APMComponent.cc \
+    src/AutoPilotPlugins/APM/APMRadioComponent.cc \
+    src/AutoPilotPlugins/Common/RadioComponentController.cc \
     src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc \
     src/AutoPilotPlugins/PX4/AirframeComponent.cc \
     src/AutoPilotPlugins/PX4/AirframeComponentAirframes.cc \
@@ -601,8 +605,7 @@ SOURCES += \
     src/AutoPilotPlugins/PX4/PowerComponentController.cc \
     src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc \
     src/AutoPilotPlugins/PX4/PX4Component.cc \
-    src/AutoPilotPlugins/PX4/RadioComponent.cc \
-    src/AutoPilotPlugins/PX4/RadioComponentController.cc \
+    src/AutoPilotPlugins/PX4/PX4RadioComponent.cc \
     src/AutoPilotPlugins/PX4/SafetyComponent.cc \
     src/AutoPilotPlugins/PX4/SensorsComponent.cc \
     src/AutoPilotPlugins/PX4/SensorsComponentController.cc \

qgroundcontrol.qrc

@@ -97,8 +97,9 @@
         <file alias="QGroundControl/ScreenTools/qmldir">src/QmlControls/QGroundControl.ScreenTools.qmldir</file>
         <file alias="QGroundControl/ScreenTools/ScreenTools.qml">src/QmlControls/ScreenTools.qml</file>
         <file alias="QmlTest.qml">src/QmlControls/QmlTest.qml</file>
-        <file alias="RadioComponent.qml">src/AutoPilotPlugins/PX4/RadioComponent.qml</file>
-        <file alias="RadioComponentSummary.qml">src/AutoPilotPlugins/PX4/RadioComponentSummary.qml</file>
+        <file alias="RadioComponent.qml">src/AutoPilotPlugins/Common/RadioComponent.qml</file>
+        <file alias="PX4RadioComponentSummary.qml">src/AutoPilotPlugins/PX4/PX4RadioComponentSummary.qml</file>
+        <file alias="APMRadioComponentSummary.qml">src/AutoPilotPlugins/APM/APMRadioComponentSummary.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/APMAutoPilotPlugin.cc

@@ -52,6 +52,11 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
             Q_CHECK_PTR(_airframeComponent);
             _airframeComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
+
+            _radioComponent = new APMRadioComponent(_vehicle, this);
+            Q_CHECK_PTR(_radioComponent);
+            _radioComponent->setupTriggerSignals();
+            _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
         } else {
             qWarning() << "Call to vehicleCompenents prior to parametersReady";
         }

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h

@@ -27,6 +27,7 @@
 #include "AutoPilotPlugin.h"
 #include "Vehicle.h"
 #include "APMAirframeComponent.h"
+#include "APMRadioComponent.h"
 
 /// This is the APM specific implementation of the AutoPilot class.
 class APMAutoPilotPlugin : public AutoPilotPlugin
@@ -40,6 +41,9 @@ public:
     // Overrides from AutoPilotPlugin
     virtual const QVariantList& vehicleComponents(void);
 
+    APMAirframeComponent*   airframeComponent(void) { return _airframeComponent; }
+    APMRadioComponent*      radioComponent(void)    { return _radioComponent; }
+
 public slots:
     // FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle
     void _parametersReadyPreChecks(bool missingParameters);
@@ -48,6 +52,7 @@ private:
     bool                    _incorrectParameterVersion; ///< true: parameter version incorrect, setup not allowed
     QVariantList            _components;
     APMAirframeComponent*   _airframeComponent;
+    APMRadioComponent*      _radioComponent;
 };
 
 #endif

src/AutoPilotPlugins/APM/APMRadioComponent.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 "APMRadioComponent.h"
+#include "APMAutoPilotPlugin.h"
+
+APMRadioComponent::APMRadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    APMComponent(vehicle, autopilot, parent),
+    _name(tr("Radio"))
+{
+}
+
+QString APMRadioComponent::name(void) const
+{
+    return _name;
+}
+
+QString APMRadioComponent::description(void) const
+{
+    return tr("The Radio Component is used to setup which channels on your RC Transmitter you will use for each vehicle control such as Roll, Pitch, Yaw and Throttle. "
+              "It also allows you to assign switches and dials to the various flight modes. "
+              "Prior to flight you must also calibrate the extents for all of your channels.");
+}
+
+QString APMRadioComponent::iconResource(void) const
+{
+    return "/qmlimages/RadioComponentIcon.png";
+}
+
+bool APMRadioComponent::requiresSetup(void) const
+{
+    return true;
+}
+
+bool APMRadioComponent::setupComplete(void) const
+{
+    // The best we can do to detect the need for a radio calibration is look for attitude
+    // controls to be mapped.
+    QStringList attitudeMappings;
+    attitudeMappings << "RCMAP_ROLL" << "RCMAP_PITCH" << "RCMAP_YAW" << "RCMAP_THROTTLE";
+    foreach(QString mapParam, attitudeMappings) {
+        if (_autopilot->getParameterFact(FactSystem::defaultComponentId, mapParam)->rawValue().toInt() == 0) {
+            return false;
+        }
+    }
+    
+    return true;
+}
+
+QString APMRadioComponent::setupStateDescription(void) const
+{
+    const char* stateDescription;
+    
+    if (requiresSetup()) {
+        stateDescription = "Requires calibration";
+    } else {
+        stateDescription = "Calibrated";
+    }
+    return QString(stateDescription);
+}
+
+QStringList APMRadioComponent::setupCompleteChangedTriggerList(void) const
+{
+    QStringList triggers;
+    
+    triggers << "RCMAP_ROLL" << "RCMAP_PITCH" << "RCMAP_YAW" << "RCMAP_THROTTLE";
+    
+    return triggers;
+}
+
+QStringList APMRadioComponent::paramFilterList(void) const
+{
+    QStringList list;
+    
+    list << "RC*";
+    
+    return list;
+}
+
+QUrl APMRadioComponent::setupSource(void) const
+{
+    return QUrl::fromUserInput("qrc:/qml/RadioComponent.qml");
+}
+
+QUrl APMRadioComponent::summaryQmlSource(void) const
+{
+    return QUrl::fromUserInput("qrc:/qml/APMRadioComponentSummary.qml");
+}
+
+QString APMRadioComponent::prerequisiteSetup(void) const
+{
+    APMAutoPilotPlugin* plugin = dynamic_cast<APMAutoPilotPlugin*>(_autopilot);
+
+    if (!plugin->airframeComponent()->setupComplete()) {
+        return plugin->airframeComponent()->name();
+
+    }
+    
+    return QString();
+}

src/AutoPilotPlugins/APM/APMRadioComponent.h

+/*=====================================================================
+ 
+ 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/>.
+ 
+ ======================================================================*/
+
+#ifndef APMRadioComponent_H
+#define APMRadioComponent_H
+
+#include "APMComponent.h"
+
+class APMRadioComponent : public APMComponent
+{
+    Q_OBJECT
+    
+public:
+    APMRadioComponent(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 QString setupStateDescription(void) const;
+    virtual QUrl setupSource(void) const;
+    virtual QStringList paramFilterList(void) const;
+    virtual QUrl summaryQmlSource(void) const;
+    virtual QString prerequisiteSetup(void) const;
+    
+private:
+    const QString   _name;
+    QVariantList    _summaryItems;
+};
+
+#endif

src/AutoPilotPlugins/APM/APMRadioComponentSummary.qml

+import QtQuick 2.2
+import QtQuick.Controls 1.2
+
+import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.Palette 1.0
+
+FactPanel {
+    id:             panel
+    anchors.fill:   parent
+    color:          qgcPal.windowShadeDark
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
+    FactPanelController { id: controller; factPanel: panel }
+
+    property Fact mapRollFact:      controller.getParameterFact(-1, "RCMAP_ROLL")
+    property Fact mapPitchFact:     controller.getParameterFact(-1, "RCMAP_PITCH")
+    property Fact mapYawFact:       controller.getParameterFact(-1, "RCMAP_YAW")
+    property Fact mapThrottleFact:  controller.getParameterFact(-1, "RCMAP_THROTTLE")
+
+    Column {
+        anchors.fill:       parent
+        anchors.margins:    8
+
+        VehicleSummaryRow {
+            labelText: "Roll:"
+            valueText: mapRollFact.value == 0 ? "Setup required" : mapRollFact.valueString
+        }
+
+        VehicleSummaryRow {
+            labelText: "Pitch:"
+            valueText: mapPitchFact.value == 0 ? "Setup required" : mapPitchFact.valueString
+        }
+
+        VehicleSummaryRow {
+            labelText: "Yaw:"
+            valueText: mapYawFact.value == 0 ? "Setup required" : mapYawFact.valueString
+        }
+
+        VehicleSummaryRow {
+            labelText: "Throttle:"
+            valueText: mapThrottleFact.value == 0 ? "Setup required" : mapThrottleFact.valueString
+        }
+    }
+}

src/AutoPilotPlugins/PX4/RadioComponent.qml → src/AutoPilotPlugins/Common/RadioComponent.qml

@@ -21,20 +21,17 @@
 
  ======================================================================*/
 
-/// @file
-///     @brief Radio Calibration
-///     @author Don Gagne <don@thegagnes.com>
-
-import QtQuick 2.2
+import QtQuick          2.5
 import QtQuick.Controls 1.2
-import QtQuick.Dialogs 1.2
+import QtQuick.Dialogs  1.2
 
-import QGroundControl.FactSystem 1.0
-import QGroundControl.FactControls 1.0
-import QGroundControl.Palette 1.0
-import QGroundControl.Controls 1.0
-import QGroundControl.ScreenTools 1.0
-import QGroundControl.Controllers 1.0
+import QGroundControl               1.0
+import QGroundControl.FactSystem    1.0
+import QGroundControl.FactControls  1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Controllers   1.0
 
 QGCView {
     id:         rootQGCView
@@ -42,19 +39,14 @@ QGCView {
 
     QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
 
-    readonly property string dialogTitle: "Radio"
-    readonly property real labelToMonitorMargin: defaultTextWidth * 3
-    property bool controllerCompleted: false
-    property bool controllerAndViewReady: false
+    readonly property string    dialogTitle:            "Radio"
+    readonly property real      labelToMonitorMargin:   defaultTextWidth * 3
 
-    property Fact rcInMode: controller.getParameterFact(-1, "COM_RC_IN_MODE")
+    property bool controllerCompleted:      false
+    property bool controllerAndViewReady:   false
 
     function updateChannelCount()
     {
-        if (controllerAndViewReady) {
-            if (rcInMode.value == 1) {
-                showDialog(joystickEnabledDialogComponent, dialogTitle, 50, 0)
-            }
 /*
             FIXME: Turned off for now, since it prevents binding. Need to restructure to
             allow binding and still check channel count
@@ -64,7 +56,6 @@ QGCView {
                 hideDialog()
             }
 */
-        }
     }
 
     RadioComponentController {
@@ -75,8 +66,6 @@ QGCView {
         nextButton:     nextButton
         skipButton:     skipButton
 
-        onChannelCountChanged: updateChannelCount()
-
         Component.onCompleted: {
             controllerCompleted = true
             if (rootQGCView.completedSignalled) {
@@ -85,6 +74,9 @@ QGCView {
                 updateChannelCount()
             }
         }
+
+        onChannelCountChanged:              updateChannelCount()
+        onFunctionMappingChangedAPMReboot:    showMessage("Reboot required", "Your stick mappings have changed, you must reboot the vehicle for correct operation.", StandardButton.Ok)
     }
 
     onCompleted: {
@@ -133,14 +125,6 @@ QGCView {
             }
         }
 
-        Component {
-            id: joystickEnabledDialogComponent
-
-            QGCViewMessage {
-                message: "Radio Config is disabled since you have a Joystick enabled."
-            }
-        }
-
         Component {
             id: spektrumBindDialogComponent
 
@@ -482,6 +466,7 @@ QGCView {
             QGCButton {
                 showBorder: true
                 text:       "Copy Trims"
+                visible:    QGroundControl.multiVehicleManager.activeVehicle.px4Firmware
                 onClicked:  showDialog(copyTrimsDialogComponent, dialogTitle, 50, StandardButton.Ok | StandardButton.Cancel)
             }
 

src/AutoPilotPlugins/PX4/RadioComponentController.h → src/AutoPilotPlugins/Common/RadioComponentController.h

@@ -140,9 +140,12 @@ signals:
     // @brief Signalled when in unit test mode and a message box should be displayed by the next button
     void nextButtonMessageBoxDisplayed(void);
 
+    // Signaled to QML to indicator reboot is required
+    void functionMappingChangedAPMReboot(void);
+
 private slots:
-    void _remoteControlChannelRawChanged(int chan, float val);
-    
+    void _rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels]);
+
 private:
     /// @brief These identify the various controls functions. They are also used as indices into the _rgFunctioInfo
     /// array.
@@ -209,7 +212,9 @@ private:
     
     int _currentStep;  ///< Current step of state machine
     
-    const struct stateMachineEntry* _getStateMachineEntry(int step);
+    const struct stateMachineEntry* _getStateMachineEntry(int step) const;
+    const struct FunctionInfo* _functionInfo(void) const;
+    bool _px4Vehicle(void) const;
     
     void _advanceState(void);
     void _setupCurrentState(void);
@@ -251,6 +256,8 @@ private:
     void _storeSettings(void);
     
     void _signalAllAttiudeValueChanges(void);
+
+    int _chanMax(void) const;
     
     // @brief Called by unit test code to set the mode to unit testing
     void _setUnitTestMode(void){ _unitTestMode = true; }
@@ -279,16 +286,20 @@ private:
     
     static const int _updateInterval;   ///< Interval for ui update timer
     
-    static const struct FunctionInfo _rgFunctionInfo[rcCalFunctionMax]; ///< Information associated with each function.
+    static const struct FunctionInfo _rgFunctionInfoAPM[rcCalFunctionMax]; ///< Information associated with each function, PX4 firmware
+    static const struct FunctionInfo _rgFunctionInfoPX4[rcCalFunctionMax]; ///< Information associated with each function, APM firmware
+
     int _rgFunctionChannelMapping[rcCalFunctionMax];                    ///< Maps from rcCalFunctions to channel index. _chanMax indicates channel not set for this function.
 
     static const int _attitudeControls = 5;
     
     int _chanCount;                     ///< Number of actual rc channels available
-    static const int _chanMax = 18;     ///< Maximum number of supported rc channels
-    static const int _chanMinimum = 5;  ///< Minimum numner of channels required to run PX4
+    static const int _chanMaxPX4 = 18;  ///< Maximum number of supported rc channels, PX4 Firmware
+    static const int _chanMaxAPM = 14;  ///< Maximum number of supported rc channels, APM firmware
+    static const int _chanMaxAny = 18;  ///< Maximum number of support rc channels by this implementation
+    static const int _chanMinimum = 5;  ///< Minimum numner of channels required to run
     
-    struct ChannelInfo _rgChannelInfo[_chanMax];    ///< Information associated with each rc channel
+    struct ChannelInfo _rgChannelInfo[_chanMaxAny];    ///< Information associated with each rc channel
     
     enum rcCalStates _rcCalState;       ///< Current calibration state
     int _rcCalStateCurrentChannel;      ///< Current channel being worked on in rcCalStateIdentify and rcCalStateDetectInversion
@@ -306,9 +317,9 @@ private:
     static const int _rcCalSettleDelta;
     static const int _rcCalMinDelta;
     
-    int _rcValueSave[_chanMax];        ///< Saved values prior to detecting channel movement
+    int _rcValueSave[_chanMaxAny];        ///< Saved values prior to detecting channel movement
     
-    int _rcRawValue[_chanMax];         ///< Current set of raw channel values
+    int _rcRawValue[_chanMaxAny];         ///< Current set of raw channel values
     
     int     _stickDetectChannel;
     int     _stickDetectInitialValue;

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -99,7 +99,7 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
             _airframeComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
             
-            _radioComponent = new RadioComponent(_vehicle, this);
+            _radioComponent = new PX4RadioComponent(_vehicle, this);
             Q_CHECK_PTR(_radioComponent);
             _radioComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h

@@ -27,7 +27,7 @@
 #include "AutoPilotPlugin.h"
 #include "PX4AirframeLoader.h"
 #include "AirframeComponent.h"
-#include "RadioComponent.h"
+#include "PX4RadioComponent.h"
 #include "FlightModesComponent.h"
 #include "SensorsComponent.h"
 #include "SafetyComponent.h"
@@ -53,7 +53,7 @@ public:
 
     // These methods should only be used by objects within the plugin
     AirframeComponent*      airframeComponent(void)     { return _airframeComponent; }
-    RadioComponent*         radioComponent(void)        { return _radioComponent; }
+    PX4RadioComponent*      radioComponent(void)        { return _radioComponent; }
     FlightModesComponent*   flightModesComponent(void)  { return _flightModesComponent; }
     SensorsComponent*       sensorsComponent(void)      { return _sensorsComponent; }
     SafetyComponent*        safetyComponent(void)       { return _safetyComponent; }
@@ -67,7 +67,7 @@ private:
     PX4AirframeLoader*      _airframeFacts;
     QVariantList            _components;
     AirframeComponent*      _airframeComponent;
-    RadioComponent*         _radioComponent;
+    PX4RadioComponent*      _radioComponent;
     FlightModesComponent*   _flightModesComponent;
     SensorsComponent*       _sensorsComponent;
     SafetyComponent*        _safetyComponent;

src/AutoPilotPlugins/PX4/RadioComponent.cc → src/AutoPilotPlugins/PX4/PX4RadioComponent.cc

@@ -21,42 +21,38 @@
  
  ======================================================================*/
 
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
-#include "RadioComponent.h"
-#include "QGCQmlWidgetHolder.h"
+#include "PX4RadioComponent.h"
 #include "PX4AutoPilotPlugin.h"
 
-RadioComponent::RadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+PX4RadioComponent::PX4RadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
     PX4Component(vehicle, autopilot, parent),
     _name(tr("Radio"))
 {
 }
 
-QString RadioComponent::name(void) const
+QString PX4RadioComponent::name(void) const
 {
     return _name;
 }
 
-QString RadioComponent::description(void) const
+QString PX4RadioComponent::description(void) const
 {
     return tr("The Radio Component is used to setup which channels on your RC Transmitter you will use for each vehicle control such as Roll, Pitch, Yaw and Throttle. "
               "It also allows you to assign switches and dials to the various flight modes. "
               "Prior to flight you must also calibrate the extents for all of your channels.");
 }
 
-QString RadioComponent::iconResource(void) const
+QString PX4RadioComponent::iconResource(void) const
 {
     return "/qmlimages/RadioComponentIcon.png";
 }
 
-bool RadioComponent::requiresSetup(void) const
+bool PX4RadioComponent::requiresSetup(void) const
 {
     return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
 }
 
-bool RadioComponent::setupComplete(void) const
+bool PX4RadioComponent::setupComplete(void) const
 {
     if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
         // The best we can do to detect the need for a radio calibration is look for attitude
@@ -73,7 +69,7 @@ bool RadioComponent::setupComplete(void) const
     return true;
 }
 
-QString RadioComponent::setupStateDescription(void) const
+QString PX4RadioComponent::setupStateDescription(void) const
 {
     const char* stateDescription;
     
@@ -85,7 +81,7 @@ QString RadioComponent::setupStateDescription(void) const
     return QString(stateDescription);
 }
 
-QStringList RadioComponent::setupCompleteChangedTriggerList(void) const
+QStringList PX4RadioComponent::setupCompleteChangedTriggerList(void) const
 {
     QStringList triggers;
     
@@ -94,7 +90,7 @@ QStringList RadioComponent::setupCompleteChangedTriggerList(void) const
     return triggers;
 }
 
-QStringList RadioComponent::paramFilterList(void) const
+QStringList PX4RadioComponent::paramFilterList(void) const
 {
     QStringList list;
     
@@ -103,21 +99,20 @@ QStringList RadioComponent::paramFilterList(void) const
     return list;
 }
 
-QUrl RadioComponent::setupSource(void) const
+QUrl PX4RadioComponent::setupSource(void) const
 {
     return QUrl::fromUserInput("qrc:/qml/RadioComponent.qml");
 }
 
-QUrl RadioComponent::summaryQmlSource(void) const
+QUrl PX4RadioComponent::summaryQmlSource(void) const
 {
-    return QUrl::fromUserInput("qrc:/qml/RadioComponentSummary.qml");
+    return QUrl::fromUserInput("qrc:/qml/PX4RadioComponentSummary.qml");
 }
 
-QString RadioComponent::prerequisiteSetup(void) const
+QString PX4RadioComponent::prerequisiteSetup(void) const
 {
     if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
         PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
-        Q_ASSERT(plugin);
         
         if (!plugin->airframeComponent()->setupComplete()) {
             return plugin->airframeComponent()->name();

src/AutoPilotPlugins/PX4/RadioComponent.h → src/AutoPilotPlugins/PX4/PX4RadioComponent.h

@@ -21,22 +21,17 @@
  
  ======================================================================*/
 
-#ifndef RADIOCOMPONENT_H
-#define RADIOCOMPONENT_H
+#ifndef PX4RadioComponent_H
+#define PX4RadioComponent_H
 
 #include "PX4Component.h"
 
-/// @file
-///     @brief The Radio VehicleComponent is used to calibrate the trasmitter and assign function mapping
-///             to channels.
-///     @author Don Gagne <don@thegagnes.com>
-
-class RadioComponent : public PX4Component
+class PX4RadioComponent : public PX4Component
 {
     Q_OBJECT
     
 public:
-    RadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    PX4RadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from PX4Component
     virtual QStringList setupCompleteChangedTriggerList(void) const;

src/comm/LinkManager.h

@@ -171,6 +171,11 @@ public:
     // Called to signal app shutdown. Disconnects all links while turning off auto-connect.
     void shutdown(void);
 
+#ifdef QT_DEBUG
+    // Only used by unit test tp restart after a shutdown
+    void restart(void) { setConnectionsAllowed(); }
+#endif
+
     /// @return true: specified link is an autoconnect link
     bool isAutoconnectLink(LinkInterface* link);
 

src/qgcunittest/PX4RCCalibrationTest.h → src/qgcunittest/RadioConfigTest.h

@@ -47,12 +47,11 @@ public:
     RadioConfigTest(void);
     
 private slots:
-    void init(void);
     void cleanup(void);
     
-    void _minRCChannels_test(void);
-    void _fullCalibration_test(void);
-    
+    void _fullCalibration_px4_test(void);
+    void _fullCalibration_apm_test(void);
+
 private:
     /// @brief Modes to run worker functions
     enum TestMode {
@@ -67,15 +66,6 @@ private:
         moveToCenter,
     };
     
-    void _channelHomePosition(void);
-    void _minRCChannels(void);
-    void _beginCalibration(void);
-    void _stickMoveWaitForSettle(int channel, int value);
-    void _stickMoveAutoStep(const char* functionStr, enum RadioComponentController::rcCalFunctions function, enum MoveToDirection direction, bool identifyStep);
-    void _switchMinMaxStep(void);
-    void _flapsDetectStep(void);
-    void _switchSelectAutoStep(const char* functionStr, RadioComponentController::rcCalFunctions function);
-    
     enum {
         validateMinMaxMask =    1 << 0,
         validateTrimsMask =     1 << 1,
@@ -85,12 +75,28 @@ private:
     };
 
     struct ChannelSettings {
-		int function;
+        int function;
         int rcMin;
         int rcMax;
         int rcTrim;
         int reversed;
     };
+
+    void _init(MAV_AUTOPILOT firmwareType);
+    void _channelHomePosition(void);
+    void _minRCChannels(void);
+    void _beginCalibration(void);
+    void _stickMoveWaitForSettle(int channel, int value);
+    void _stickMoveAutoStep(const char* functionStr, enum RadioComponentController::rcCalFunctions function, enum MoveToDirection direction, bool identifyStep);
+    void _switchMinMaxStep(void);
+    void _flapsDetectStep(void);
+    void _switchSelectAutoStep(const char* functionStr, RadioComponentController::rcCalFunctions function);
+    bool _px4Vehicle(void) const;
+    const struct RadioComponentController::FunctionInfo* _functionInfo(void) const;
+    const struct ChannelSettings* _channelSettings(void) const;
+    const struct ChannelSettings* _channelSettingsValidate(void) const;
+    void _fullCalibrationWorker(MAV_AUTOPILOT firmwareType);
+    int _chanMax(void) const;
     
     void _validateParameters(void);
     
@@ -113,12 +119,13 @@ private:
     static const int _testMaxValue;
     static const int _testCenterValue;
     
-	static const int _availableChannels = 18;	///< Simulate 18 channel RC Transmitter
     static const int _stickSettleWait;
 	
-    static const struct ChannelSettings _rgChannelSettings[_availableChannels];
-    static const struct ChannelSettings _rgChannelSettingsValidate[RadioComponentController::_chanMax];
-	
+    static const struct ChannelSettings _rgChannelSettingsPX4[RadioComponentController::_chanMaxPX4];
+    static const struct ChannelSettings _rgChannelSettingsAPM[RadioComponentController::_chanMaxAPM];
+    static const struct ChannelSettings _rgChannelSettingsValidatePX4[RadioComponentController::_chanMaxPX4];
+    static const struct ChannelSettings _rgChannelSettingsValidateAPM[RadioComponentController::_chanMaxAPM];
+
 	int _rgFunctionChannelMap[RadioComponentController::rcCalFunctionMax];
     
     RadioComponentController*   _controller;