Skip to content

Q
qgroundcontrol
Commit c3232d4f authored by Don Gagne's avatar Don Gagne
Browse files
Options

Merge pull request #3397 from dagar/misc 

PX4 misc
parents 4af57560 17fcb294
Show whitespace changes
Inline Side-by-side
Showing with 44 additions and 28 deletions
src/AutoPilotPlugins/PX4/FlightModesComponent.cc
View file @ c3232d4f
......@@ -107,7 +107,7 @@ QString FlightModesComponent::prerequisiteSetup(void) const
return plugin->airframeComponent()->name();
} else if (!plugin->radioComponent()->setupComplete()) {
return plugin->radioComponent()->name();
} else if (!plugin->sensorsComponent()->setupComplete()) {
} else if (!plugin->vehicle()->hilMode() && !plugin->sensorsComponent()->setupComplete()) {
return plugin->sensorsComponent()->name();
}
}
......
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
View file @ c3232d4f
......@@ -73,9 +73,11 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
_radioComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
if (!_vehicle->hilMode()) {
_sensorsComponent = new SensorsComponent(_vehicle, this);
_sensorsComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
}
_flightModesComponent = new FlightModesComponent(_vehicle, this);
_flightModesComponent->setupTriggerSignals();
......
src/AutoPilotPlugins/PX4/SafetyComponent.qml
View file @ c3232d4f
......@@ -490,7 +490,7 @@ QGCView {
spacing: _margins * 0.5
anchors.verticalCenter: parent.verticalCenter
Row {
visible: _landSpeedMC !== -1
visible: !controller.vehicle.fixedWing && (_landSpeedMC !== -1)
QGCLabel {
anchors.baseline: landVelField.baseline
width: _middleRowWidth
......
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
View file @ c3232d4f
......@@ -167,8 +167,9 @@ QList<VehicleComponent*> APMFirmwarePlugin::componentsForVehicle(AutoPilotPlugin
return QList<VehicleComponent*>();
}
QStringList APMFirmwarePlugin::flightModes(void)
QStringList APMFirmwarePlugin::flightModes(Vehicle* vehicle)
{
Q_UNUSED(vehicle)
QStringList flightModesList;
foreach (const APMCustomMode& customMode, _supportedModes) {
if (customMode.canBeSet()) {
......
src/FirmwarePlugin/APM/APMFirmwarePlugin.h
View file @ c3232d4f
......@@ -87,7 +87,7 @@ public:
QList<MAV_CMD> supportedMissionCommands(void) final;
bool isCapable(FirmwareCapabilities capabilities);
QStringList flightModes(void) final;
QStringList flightModes(Vehicle* vehicle) final;
QString flightMode(uint8_t base_mode, uint32_t custom_mode) const final;
bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
bool isGuidedMode(const Vehicle* vehicle) const final;
......
src/FirmwarePlugin/FirmwarePlugin.h
View file @ c3232d4f
......@@ -84,7 +84,10 @@ public:
virtual QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle);
/// Returns the list of available flight modes
virtual QStringList flightModes(void) { return QStringList(); }
virtual QStringList flightModes(Vehicle* vehicle) {
Q_UNUSED(vehicle);
return QStringList();
}
/// Returns the name for this flight mode. Flight mode names must be human readable as well as audio speakable.
/// @param base_mode Base mode from mavlink HEARTBEAT message
......
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
View file @ c3232d4f
......@@ -68,6 +68,8 @@ struct Modes2Name {
uint8_t sub_mode;
const char* name; ///< Name for flight mode
bool canBeSet; ///< true: Vehicle can be set to this flight mode
bool fixedWing; /// fixed wing compatible
bool multiRotor; /// multi rotor compatible
};
const char* PX4FirmwarePlugin::manualFlightMode = "Manual";
......@@ -89,21 +91,21 @@ const char* PX4FirmwarePlugin::followMeFlightMode = "Follow Me";
/// Tranlates from PX4 custom modes to flight mode names
static const struct Modes2Name rgModes2Name[] = {
{ PX4_CUSTOM_MAIN_MODE_MANUAL, 0, PX4FirmwarePlugin::manualFlightMode, true },
{ PX4_CUSTOM_MAIN_MODE_ACRO, 0, PX4FirmwarePlugin::acroFlightMode, true },
{ PX4_CUSTOM_MAIN_MODE_STABILIZED, 0, PX4FirmwarePlugin::stabilizedFlightMode, true },
{ PX4_CUSTOM_MAIN_MODE_RATTITUDE, 0, PX4FirmwarePlugin::rattitudeFlightMode, true },
{ PX4_CUSTOM_MAIN_MODE_ALTCTL, 0, PX4FirmwarePlugin::altCtlFlightMode, true },
{ PX4_CUSTOM_MAIN_MODE_POSCTL, 0, PX4FirmwarePlugin::posCtlFlightMode, true },
{ PX4_CUSTOM_MAIN_MODE_OFFBOARD, 0, PX4FirmwarePlugin::offboardFlightMode, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_READY, PX4FirmwarePlugin::readyFlightMode, false },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF, PX4FirmwarePlugin::takeoffFlightMode, false },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LOITER, PX4FirmwarePlugin::pauseFlightMode, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_MISSION, PX4FirmwarePlugin::missionFlightMode, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTL, PX4FirmwarePlugin::rtlFlightMode, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LAND, PX4FirmwarePlugin::landingFlightMode, false },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTGS, PX4FirmwarePlugin::rtgsFlightMode, false },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_ME, PX4FirmwarePlugin::followMeFlightMode, true },
{ PX4_CUSTOM_MAIN_MODE_MANUAL, 0, PX4FirmwarePlugin::manualFlightMode, true, true, true},
{ PX4_CUSTOM_MAIN_MODE_ACRO, 0, PX4FirmwarePlugin::acroFlightMode, true, false, true},
{ PX4_CUSTOM_MAIN_MODE_STABILIZED, 0, PX4FirmwarePlugin::stabilizedFlightMode, true, true, true},
{ PX4_CUSTOM_MAIN_MODE_RATTITUDE, 0, PX4FirmwarePlugin::rattitudeFlightMode, true, false, true},
{ PX4_CUSTOM_MAIN_MODE_ALTCTL, 0, PX4FirmwarePlugin::altCtlFlightMode, true, true, true},
{ PX4_CUSTOM_MAIN_MODE_POSCTL, 0, PX4FirmwarePlugin::posCtlFlightMode, true, true, true},
{ PX4_CUSTOM_MAIN_MODE_OFFBOARD, 0, PX4FirmwarePlugin::offboardFlightMode, true, true, true},
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_READY, PX4FirmwarePlugin::readyFlightMode, false, true, true},
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF, PX4FirmwarePlugin::takeoffFlightMode, false, true, true},
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LOITER, PX4FirmwarePlugin::pauseFlightMode, true, true, true},
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_MISSION, PX4FirmwarePlugin::missionFlightMode, true, true, true},
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTL, PX4FirmwarePlugin::rtlFlightMode, true, true, true},
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LAND, PX4FirmwarePlugin::landingFlightMode, false, true, true},
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTGS, PX4FirmwarePlugin::rtgsFlightMode, false, true, true},
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_ME, PX4FirmwarePlugin::followMeFlightMode, true, true, true},
};
QList<VehicleComponent*> PX4FirmwarePlugin::componentsForVehicle(AutoPilotPlugin* vehicle)
......@@ -113,7 +115,7 @@ QList<VehicleComponent*> PX4FirmwarePlugin::componentsForVehicle(AutoPilotPlugin
return QList<VehicleComponent*>();
}
QStringList PX4FirmwarePlugin::flightModes(void)
QStringList PX4FirmwarePlugin::flightModes(Vehicle* vehicle)
{
QStringList flightModes;
......@@ -121,9 +123,17 @@ QStringList PX4FirmwarePlugin::flightModes(void)
const struct Modes2Name* pModes2Name = &rgModes2Name[i];
if (pModes2Name->canBeSet) {
bool fw = (vehicle->fixedWing() && pModes2Name->fixedWing);
bool mc = (vehicle->multiRotor() && pModes2Name->multiRotor);
// show all modes for generic, vtol, etc
bool other = !vehicle->fixedWing() && !vehicle->multiRotor();
if (fw || mc || other) {
flightModes += pModes2Name->name;
}
}
}
return flightModes;
}
......
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
View file @ c3232d4f
......@@ -42,7 +42,7 @@ public:
QList<MAV_CMD> supportedMissionCommands(void) final;
bool isCapable (FirmwareCapabilities capabilities) final;
QStringList flightModes (void) final;
QStringList flightModes (Vehicle* vehicle) final;
QString flightMode (uint8_t base_mode, uint32_t custom_mode) const final;
bool setFlightMode (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
void setGuidedMode(Vehicle* vehicle, bool guidedMode) final;
......
src/QmlControls/ParameterEditor.qml
View file @ c3232d4f
......@@ -181,7 +181,7 @@ QGCView {
readonly property int componentId: parseInt(modelData)
spacing: Math.ceil(ScreenTools.defaultFontPixelHeight * 0.25)
QGCLabel {
text: qsTr("Component #: %1)").arg(componentId.toString())
text: qsTr("Component #: %1").arg(componentId.toString())
font.family: ScreenTools.demiboldFontFamily
anchors.horizontalCenter: parent.horizontalCenter
}
......
src/Vehicle/Vehicle.cc
View file @ c3232d4f
......@@ -1193,7 +1193,7 @@ bool Vehicle::flightModeSetAvailable(void)
QStringList Vehicle::flightModes(void)
{
return _firmwarePlugin->flightModes();
return _firmwarePlugin->flightModes(this);
}
QString Vehicle::flightMode(void) const
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment