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Commit ba486be4 authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Solo param usage fixes (#3663) 

* Deal with missing parameters on Solo

* Fix trigger set
parent f5ae0a2e
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Showing with 96 additions and 60 deletions
src/AutoPilotPlugins/APM/APMSensorsComponent.cc
View file @ ba486be4
......@@ -62,6 +62,12 @@ QStringList APMSensorsComponent::setupCompleteChangedTriggerList(void) const
// Accelerometer triggers
triggers << "INS_ACCOFFS_X" << "INS_ACCOFFS_Y" << "INS_ACCOFFS_Z";
if (_autopilot->parameterExists(FactSystem::defaultComponentId, QStringLiteral("INS_USE"))) {
triggers << QStringLiteral("INS_USE") << QStringLiteral("INS_USE2") << QStringLiteral("INS_USE3");
triggers << QStringLiteral("INS_ACC2OFFS_X") << QStringLiteral("INS_ACC2OFFS_Y") << QStringLiteral("INS_ACC2OFFS_Z");
triggers << QStringLiteral("INS_ACC3OFFS_X") << QStringLiteral("INS_ACC3OFFS_Y") << QStringLiteral("INS_ACC3OFFS_Z");
}
return triggers;
}
......@@ -117,20 +123,33 @@ bool APMSensorsComponent::compassSetupNeeded(void) const
bool APMSensorsComponent::accelSetupNeeded(void) const
{
const size_t cAccel = 3;
const size_t cOffset = 3;
QStringList rgUse;
QStringList rgOffsets[cAccel];
rgUse << QStringLiteral("INS_USE") << QStringLiteral("INS_USE2") << QStringLiteral("INS_USE3");
rgOffsets[0] << QStringLiteral("INS_ACCOFFS_X") << QStringLiteral("INS_ACCOFFS_Y") << QStringLiteral("INS_ACCOFFS_Z");
rgOffsets[1] << QStringLiteral("INS_ACC2OFFS_X") << QStringLiteral("INS_ACC2OFFS_Y") << QStringLiteral("INS_ACC2OFFS_Z");
rgOffsets[2] << QStringLiteral("INS_ACC3OFFS_X") << QStringLiteral("INS_ACC3OFFS_Y") << QStringLiteral("INS_ACC3OFFS_Z");
for (size_t i=0; i<cAccel; i++) {
if (_autopilot->getParameterFact(FactSystem::defaultComponentId, rgUse[i])->rawValue().toInt() != 0) {
for (size_t j=0; j<cOffset; j++) {
if (_autopilot->getParameterFact(FactSystem::defaultComponentId, rgOffsets[i][j])->rawValue().toFloat() == 0.0f) {
QStringList rgUse;
QStringList rgOffsets;
QList<QStringList> rgAccels;
// We always at a minimum test the first accel
rgOffsets << QStringLiteral("INS_ACCOFFS_X") << QStringLiteral("INS_ACCOFFS_Y") << QStringLiteral("INS_ACCOFFS_Z");
rgAccels << rgOffsets;
rgOffsets.clear();
// This parameter is not available in all firmware version. Specifically missing from older Solo firmware.
if (_autopilot->parameterExists(FactSystem::defaultComponentId, QStringLiteral("INS_USE"))) {
rgUse << QStringLiteral("INS_USE") << QStringLiteral("INS_USE2") << QStringLiteral("INS_USE3");
// We have usage information for the remaining accels, so we can test them sa well
rgOffsets << QStringLiteral("INS_ACC2OFFS_X") << QStringLiteral("INS_ACC2OFFS_Y") << QStringLiteral("INS_ACC2OFFS_Z");
rgAccels << rgOffsets;
rgOffsets.clear();
rgOffsets << QStringLiteral("INS_ACC3OFFS_X") << QStringLiteral("INS_ACC3OFFS_Y") << QStringLiteral("INS_ACC3OFFS_Z");
rgAccels << rgOffsets;
rgOffsets.clear();
}
for (int i=0; i<rgAccels.count(); i++) {
if (rgUse.count() == 0 || _autopilot->getParameterFact(FactSystem::defaultComponentId, rgUse[i])->rawValue().toInt() != 0) {
for (int j=0; j<rgAccels[0].count(); j++) {
if (_autopilot->getParameterFact(FactSystem::defaultComponentId, rgAccels[i][j])->rawValue().toFloat() == 0.0f) {
return true;
}
}
......
src/FactSystem/ParameterLoader.cc
View file @ ba486be4
......@@ -1196,7 +1196,7 @@ QString ParameterLoader::_remapParamNameToVersion(const QString& paramName)
const FirmwarePlugin::remapParamNameMinorVersionRemapMap_t& remapMinorVersion = majorVersionRemap[majorVersion];
// We must map from the highest known minor version to one above the vehicle's minor version
// We must map backwards from the highest known minor version to one above the vehicle's minor version
for (int currentMinorVersion=_vehicle->firmwarePlugin()->remapParamNameHigestMinorVersionNumber(majorVersion); currentMinorVersion>minorVersion; currentMinorVersion--) {
if (remapMinorVersion.contains(currentMinorVersion)) {
......
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
View file @ ba486be4
......@@ -373,6 +373,7 @@ bool APMFirmwarePlugin::_handleStatusText(Vehicle* vehicle, mavlink_message_t* m
if (messageText.contains(APM_SOLO_REXP)) {
qDebug() << "Found Solo";
vehicle->setSoloFirmware(true);
// Fix up severity
_setInfoSeverity(message);
......
src/Vehicle/Vehicle.cc
View file @ ba486be4
......@@ -67,6 +67,8 @@ Vehicle::Vehicle(LinkInterface* link,
, _vehicleType(vehicleType)
, _firmwarePlugin(NULL)
, _autopilotPlugin(NULL)
, _mavlink(NULL)
, _soloFirmware(false)
, _joystickMode(JoystickModeRC)
, _joystickEnabled(false)
, _uas(NULL)
......@@ -1697,6 +1699,14 @@ int Vehicle::defaultComponentId(void)
return _parameterLoader->defaultComponenentId();
}
void Vehicle::setSoloFirmware(bool soloFirmware)
{
if (soloFirmware != _soloFirmware) {
_soloFirmware = soloFirmware;
emit soloFirmwareChanged(soloFirmware);
}
}
const char* VehicleGPSFactGroup::_hdopFactName = "hdop";
const char* VehicleGPSFactGroup::_vdopFactName = "vdop";
const char* VehicleGPSFactGroup::_courseOverGroundFactName = "courseOverGround";
......
src/Vehicle/Vehicle.h
View file @ ba486be4
......@@ -231,51 +231,52 @@ public:
~Vehicle();
Q_PROPERTY(int id READ id CONSTANT)
Q_PROPERTY(AutoPilotPlugin* autopilot MEMBER _autopilotPlugin CONSTANT)
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate NOTIFY coordinateChanged)
Q_PROPERTY(bool coordinateValid READ coordinateValid NOTIFY coordinateValidChanged)
Q_PROPERTY(bool homePositionAvailable READ homePositionAvailable NOTIFY homePositionAvailableChanged)
Q_PROPERTY(QGeoCoordinate homePosition READ homePosition NOTIFY homePositionChanged)
Q_PROPERTY(bool armed READ armed WRITE setArmed NOTIFY armedChanged)
Q_PROPERTY(bool flightModeSetAvailable READ flightModeSetAvailable CONSTANT)
Q_PROPERTY(QStringList flightModes READ flightModes CONSTANT)
Q_PROPERTY(QString flightMode READ flightMode WRITE setFlightMode NOTIFY flightModeChanged)
Q_PROPERTY(bool hilMode READ hilMode WRITE setHilMode NOTIFY hilModeChanged)
Q_PROPERTY(bool missingParameters READ missingParameters NOTIFY missingParametersChanged)
Q_PROPERTY(QmlObjectListModel* trajectoryPoints READ trajectoryPoints CONSTANT)
Q_PROPERTY(float latitude READ latitude NOTIFY coordinateChanged)
Q_PROPERTY(float longitude READ longitude NOTIFY coordinateChanged)
Q_PROPERTY(QString currentState READ currentState NOTIFY currentStateChanged)
Q_PROPERTY(bool messageTypeNone READ messageTypeNone NOTIFY messageTypeChanged)
Q_PROPERTY(bool messageTypeNormal READ messageTypeNormal NOTIFY messageTypeChanged)
Q_PROPERTY(bool messageTypeWarning READ messageTypeWarning NOTIFY messageTypeChanged)
Q_PROPERTY(bool messageTypeError READ messageTypeError NOTIFY messageTypeChanged)
Q_PROPERTY(int newMessageCount READ newMessageCount NOTIFY newMessageCountChanged)
Q_PROPERTY(int messageCount READ messageCount NOTIFY messageCountChanged)
Q_PROPERTY(QString formatedMessages READ formatedMessages NOTIFY formatedMessagesChanged)
Q_PROPERTY(QString formatedMessage READ formatedMessage NOTIFY formatedMessageChanged)
Q_PROPERTY(QString latestError READ latestError NOTIFY latestErrorChanged)
Q_PROPERTY(int joystickMode READ joystickMode WRITE setJoystickMode NOTIFY joystickModeChanged)
Q_PROPERTY(QStringList joystickModes READ joystickModes CONSTANT)
Q_PROPERTY(bool joystickEnabled READ joystickEnabled WRITE setJoystickEnabled NOTIFY joystickEnabledChanged)
Q_PROPERTY(bool active READ active WRITE setActive NOTIFY activeChanged)
Q_PROPERTY(int flowImageIndex READ flowImageIndex NOTIFY flowImageIndexChanged)
Q_PROPERTY(int rcRSSI READ rcRSSI NOTIFY rcRSSIChanged)
Q_PROPERTY(bool px4Firmware READ px4Firmware CONSTANT)
Q_PROPERTY(bool apmFirmware READ apmFirmware CONSTANT)
Q_PROPERTY(bool genericFirmware READ genericFirmware CONSTANT)
Q_PROPERTY(bool connectionLost READ connectionLost NOTIFY connectionLostChanged)
Q_PROPERTY(bool connectionLostEnabled READ connectionLostEnabled WRITE setConnectionLostEnabled NOTIFY connectionLostEnabledChanged)
Q_PROPERTY(uint messagesReceived READ messagesReceived NOTIFY messagesReceivedChanged)
Q_PROPERTY(uint messagesSent READ messagesSent NOTIFY messagesSentChanged)
Q_PROPERTY(uint messagesLost READ messagesLost NOTIFY messagesLostChanged)
Q_PROPERTY(bool fixedWing READ fixedWing CONSTANT)
Q_PROPERTY(bool multiRotor READ multiRotor CONSTANT)
Q_PROPERTY(bool vtol READ vtol CONSTANT)
Q_PROPERTY(bool rover READ rover CONSTANT)
Q_PROPERTY(bool autoDisconnect MEMBER _autoDisconnect NOTIFY autoDisconnectChanged)
Q_PROPERTY(QString prearmError READ prearmError WRITE setPrearmError NOTIFY prearmErrorChanged)
Q_PROPERTY(int id READ id CONSTANT)
Q_PROPERTY(AutoPilotPlugin* autopilot MEMBER _autopilotPlugin CONSTANT)
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate NOTIFY coordinateChanged)
Q_PROPERTY(bool coordinateValid READ coordinateValid NOTIFY coordinateValidChanged)
Q_PROPERTY(bool homePositionAvailable READ homePositionAvailable NOTIFY homePositionAvailableChanged)
Q_PROPERTY(QGeoCoordinate homePosition READ homePosition NOTIFY homePositionChanged)
Q_PROPERTY(bool armed READ armed WRITE setArmed NOTIFY armedChanged)
Q_PROPERTY(bool flightModeSetAvailable READ flightModeSetAvailable CONSTANT)
Q_PROPERTY(QStringList flightModes READ flightModes CONSTANT)
Q_PROPERTY(QString flightMode READ flightMode WRITE setFlightMode NOTIFY flightModeChanged)
Q_PROPERTY(bool hilMode READ hilMode WRITE setHilMode NOTIFY hilModeChanged)
Q_PROPERTY(bool missingParameters READ missingParameters NOTIFY missingParametersChanged)
Q_PROPERTY(QmlObjectListModel* trajectoryPoints READ trajectoryPoints CONSTANT)
Q_PROPERTY(float latitude READ latitude NOTIFY coordinateChanged)
Q_PROPERTY(float longitude READ longitude NOTIFY coordinateChanged)
Q_PROPERTY(QString currentState READ currentState NOTIFY currentStateChanged)
Q_PROPERTY(bool messageTypeNone READ messageTypeNone NOTIFY messageTypeChanged)
Q_PROPERTY(bool messageTypeNormal READ messageTypeNormal NOTIFY messageTypeChanged)
Q_PROPERTY(bool messageTypeWarning READ messageTypeWarning NOTIFY messageTypeChanged)
Q_PROPERTY(bool messageTypeError READ messageTypeError NOTIFY messageTypeChanged)
Q_PROPERTY(int newMessageCount READ newMessageCount NOTIFY newMessageCountChanged)
Q_PROPERTY(int messageCount READ messageCount NOTIFY messageCountChanged)
Q_PROPERTY(QString formatedMessages READ formatedMessages NOTIFY formatedMessagesChanged)
Q_PROPERTY(QString formatedMessage READ formatedMessage NOTIFY formatedMessageChanged)
Q_PROPERTY(QString latestError READ latestError NOTIFY latestErrorChanged)
Q_PROPERTY(int joystickMode READ joystickMode WRITE setJoystickMode NOTIFY joystickModeChanged)
Q_PROPERTY(QStringList joystickModes READ joystickModes CONSTANT)
Q_PROPERTY(bool joystickEnabled READ joystickEnabled WRITE setJoystickEnabled NOTIFY joystickEnabledChanged)
Q_PROPERTY(bool active READ active WRITE setActive NOTIFY activeChanged)
Q_PROPERTY(int flowImageIndex READ flowImageIndex NOTIFY flowImageIndexChanged)
Q_PROPERTY(int rcRSSI READ rcRSSI NOTIFY rcRSSIChanged)
Q_PROPERTY(bool px4Firmware READ px4Firmware CONSTANT)
Q_PROPERTY(bool apmFirmware READ apmFirmware CONSTANT)
Q_PROPERTY(bool soloFirmware READ soloFirmware WRITE setSoloFirmware NOTIFY soloFirmwareChanged)
Q_PROPERTY(bool genericFirmware READ genericFirmware CONSTANT)
Q_PROPERTY(bool connectionLost READ connectionLost NOTIFY connectionLostChanged)
Q_PROPERTY(bool connectionLostEnabled READ connectionLostEnabled WRITE setConnectionLostEnabled NOTIFY connectionLostEnabledChanged)
Q_PROPERTY(uint messagesReceived READ messagesReceived NOTIFY messagesReceivedChanged)
Q_PROPERTY(uint messagesSent READ messagesSent NOTIFY messagesSentChanged)
Q_PROPERTY(uint messagesLost READ messagesLost NOTIFY messagesLostChanged)
Q_PROPERTY(bool fixedWing READ fixedWing CONSTANT)
Q_PROPERTY(bool multiRotor READ multiRotor CONSTANT)
Q_PROPERTY(bool vtol READ vtol CONSTANT)
Q_PROPERTY(bool rover READ rover CONSTANT)
Q_PROPERTY(bool autoDisconnect MEMBER _autoDisconnect NOTIFY autoDisconnectChanged)
Q_PROPERTY(QString prearmError READ prearmError WRITE setPrearmError NOTIFY prearmErrorChanged)
/// true: Vehicle is flying, false: Vehicle is on ground
Q_PROPERTY(bool flying READ flying WRITE setFlying NOTIFY flyingChanged)
......@@ -529,6 +530,9 @@ public:
void setFirmwareVersion(int majorVersion, int minorVersion, int patchVersion, FIRMWARE_VERSION_TYPE versionType = FIRMWARE_VERSION_TYPE_OFFICIAL);
static const int versionNotSetValue = -1;
bool soloFirmware(void) const { return _soloFirmware; }
void setSoloFirmware(bool soloFirmware);
int defaultComponentId(void);
public slots:
......@@ -556,6 +560,7 @@ signals:
void guidedModeChanged(bool guidedMode);
void prearmErrorChanged(const QString& prearmError);
void commandLongAck(uint8_t compID, uint16_t command, uint8_t result);
void soloFirmwareChanged(bool soloFirmware);
void messagesReceivedChanged ();
void messagesSentChanged ();
......@@ -656,6 +661,7 @@ private:
FirmwarePlugin* _firmwarePlugin;
AutoPilotPlugin* _autopilotPlugin;
MAVLinkProtocol* _mavlink;
bool _soloFirmware;
QList<LinkInterface*> _links;
......
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