Merge pull request #3397 from dagar/misc

PX4 misc

src/AutoPilotPlugins/PX4/FlightModesComponent.cc

@@ -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

@@ -73,9 +73,11 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
             _radioComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
 
-            _sensorsComponent = new SensorsComponent(_vehicle, this);
-            _sensorsComponent->setupTriggerSignals();
-            _components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
+            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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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;
 
@@ -121,7 +123,15 @@ QStringList PX4FirmwarePlugin::flightModes(void)
         const struct Modes2Name* pModes2Name = &rgModes2Name[i];
 
         if (pModes2Name->canBeSet) {
-            flightModes += pModes2Name->name;
+            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;
+            }
         }
     }
 

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -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

@@ -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

@@ -1193,7 +1193,7 @@ bool Vehicle::flightModeSetAvailable(void)
 
 QStringList Vehicle::flightModes(void)
 {
-    return _firmwarePlugin->flightModes();
+    return _firmwarePlugin->flightModes(this);
 }
 
 QString Vehicle::flightMode(void) const