ArduPilot support for new FRAME_CLASS, FRAME_TYPE

src/AutoPilotPlugins/APM/APMAirframeComponent.cc

@@ -11,16 +11,27 @@
 #include "ArduCopterFirmwarePlugin.h"
 #include "ParameterManager.h"
 
+const char* APMAirframeComponent::_oldFrameParam = "FRAME";
+const char* APMAirframeComponent::_newFrameParam = "FRAME_CLASS";
+
 APMAirframeComponent::APMAirframeComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
     : VehicleComponent(vehicle, autopilot, parent)
     , _requiresFrameSetup(false)
     , _name("Airframe")
 {
     if (qobject_cast<ArduCopterFirmwarePlugin*>(_vehicle->firmwarePlugin()) != NULL) {
+        ParameterManager* paramMgr = _vehicle->parameterManager();
         _requiresFrameSetup = true;
-        MAV_TYPE vehicleType = vehicle->vehicleType();
-        if (vehicleType == MAV_TYPE_TRICOPTER || vehicleType == MAV_TYPE_HELICOPTER) {
-            _requiresFrameSetup = false;
+        if (paramMgr->parameterExists(FactSystem::defaultComponentId, _oldFrameParam)) {
+            _useNewFrameParam = false;
+            _frameParamFact = paramMgr->getParameter(FactSystem::defaultComponentId, _oldFrameParam);
+            MAV_TYPE vehicleType = vehicle->vehicleType();
+            if (vehicleType == MAV_TYPE_TRICOPTER || vehicleType == MAV_TYPE_HELICOPTER) {
+                _requiresFrameSetup = false;
+            }
+        } else {
+            _useNewFrameParam = true;
+            _frameParamFact = paramMgr->getParameter(FactSystem::defaultComponentId, _newFrameParam);
         }
     }
 }
@@ -49,7 +60,11 @@ bool APMAirframeComponent::requiresSetup(void) const
 bool APMAirframeComponent::setupComplete(void) const
 {
     if (_requiresFrameSetup) {
-        return _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("FRAME"))->rawValue().toInt() >= 0;
+        if (_useNewFrameParam) {
+            return _frameParamFact->rawValue().toInt() > 0;
+        } else {
+            return _frameParamFact->rawValue().toInt() >= 0;
+        }
     } else {
         return true;
     }
@@ -60,7 +75,7 @@ QStringList APMAirframeComponent::setupCompleteChangedTriggerList(void) const
     QStringList list;
 
     if (_requiresFrameSetup) {
-        list << QStringLiteral("FRAME");
+        list << (_useNewFrameParam ? _newFrameParam : _oldFrameParam);
     }
 
     return list;

src/AutoPilotPlugins/APM/APMAirframeComponent.h

@@ -36,6 +36,11 @@ public:
 private:
     bool            _requiresFrameSetup; ///< true: FRAME parameter must be set
     const QString   _name;
+    Fact*           _frameParamFact;
+    bool            _useNewFrameParam;
+
+    static const char* _oldFrameParam;
+    static const char* _newFrameParam;
 };
 
 #endif

src/AutoPilotPlugins/APM/APMAirframeComponent.qml

@@ -14,6 +14,7 @@ import QtQuick.Dialogs  1.2
 import QtQuick.Layouts  1.2
 
 import QGroundControl.FactSystem    1.0
+import QGroundControl.FactControls  1.0
 import QGroundControl.Palette       1.0
 import QGroundControl.Controls      1.0
 import QGroundControl.Controllers   1.0
@@ -21,10 +22,13 @@ import QGroundControl.ScreenTools   1.0
 
 SetupPage {
     id:             airframePage
-    pageComponent:  airframePageComponent
+    pageComponent:  _useOldFrameParam ?  oldFramePageComponent: newFramePageComponent
 
-    property real _margins: ScreenTools.defaultFontPixelWidth
-    property Fact _frame:   controller.getParameterFact(-1, "FRAME")
+    property real _margins:             ScreenTools.defaultFontPixelWidth
+    property bool _useOldFrameParam:    controller.parameterExists(-1, "FRAME")
+    property Fact _oldFrameParam:       controller.getParameterFact(-1, "FRAME", false)
+    property Fact _newFrameParam:       controller.getParameterFact(-1, "FRAME_CLASS", false)
+    property Fact _frameTypeParam:      controller.getParameterFact(-1, "FRAME_TYPE", false)
 
     APMAirframeComponentController {
         id:         controller
@@ -88,7 +92,7 @@ SetupPage {
     }
 
     Component {
-        id: airframePageComponent
+        id: oldFramePageComponent
 
         Column {
             width:      availableWidth
@@ -129,5 +133,36 @@ SetupPage {
                 }
             }
         } // Column
-    } // Component - pageComponent
+    } // Component - oldFramePageComponent
+
+    Component {
+        id: newFramePageComponent
+
+        Grid {
+            anchors.left:   parent.left
+            anchors.right:  parent.right
+            spacing:        _margins
+            columns:        2
+
+            QGCLabel {
+                text:               qsTr("Frame Class:")
+            }
+
+            FactComboBox {
+                fact:       _newFrameParam
+                indexModel: false
+                width:      ScreenTools.defaultFontPixelWidth * 15
+            }
+
+            QGCLabel {
+                text:               qsTr("Frame Type:")
+            }
+
+            FactComboBox {
+                fact:       _frameTypeParam
+                indexModel: false
+                width:      ScreenTools.defaultFontPixelWidth * 15
+            }
+        }
+    }
 } // SetupPage

src/AutoPilotPlugins/APM/APMAirframeComponentController.cc

@@ -28,18 +28,25 @@
 
 bool APMAirframeComponentController::_typesRegistered = false;
 
+const char* APMAirframeComponentController::_oldFrameParam = "FRAME";
+const char* APMAirframeComponentController::_newFrameParam = "FRAME_CLASS";
+
 APMAirframeComponentController::APMAirframeComponentController(void) :
     _airframeTypesModel(new QmlObjectListModel(this))
 {
     if (!_typesRegistered) {
         _typesRegistered = true;
-        qmlRegisterUncreatableType<APMAirframeType>("QGroundControl.Controllers", 1, 0, "APMAiframeType", QStringLiteral("Can only reference APMAirframeType"));
-        qmlRegisterUncreatableType<APMAirframe>("QGroundControl.Controllers", 1, 0, "APMAiframe", QStringLiteral("Can only reference APMAirframe"));
+        qmlRegisterUncreatableType<APMAirframeType>("QGroundControl.Controllers", 1, 0, "APMAirframeType", QStringLiteral("Can only reference APMAirframeType"));
     }
     _fillAirFrames();
 
-    Fact *frame = getParameterFact(FactSystem::defaultComponentId, QStringLiteral("FRAME"));
-    connect(frame, &Fact::vehicleUpdated, this, &APMAirframeComponentController::_factFrameChanged);
+    Fact* frame;
+    if (parameterExists(FactSystem::defaultComponentId, _oldFrameParam)) {
+        frame = getParameterFact(FactSystem::defaultComponentId, _oldFrameParam);
+    } else {
+        frame = getParameterFact(FactSystem::defaultComponentId, _newFrameParam);
+    }
+    connect(frame, &Fact::rawValueChanged, this, &APMAirframeComponentController::_factFrameChanged);
     _factFrameChanged(frame->rawValue());
 }
 

src/AutoPilotPlugins/APM/APMAirframeComponentController.h

@@ -71,9 +71,12 @@ private slots:
 private:
     void _loadParametersFromDownloadFile(const QString& downloadedParamFile);
 
-    static bool _typesRegistered;
     APMAirframeType *_currentAirframeType;
     QmlObjectListModel *_airframeTypesModel;
+
+    static bool _typesRegistered;
+    static const char* _oldFrameParam;
+    static const char* _newFrameParam;
 };
 
 class APMAirframe : public QObject

src/AutoPilotPlugins/APM/APMAirframeComponentSummary.qml

@@ -18,18 +18,31 @@ FactPanel {
         factPanel:  panel
     }
 
-    property Fact sysIdFact:        controller.getParameterFact(-1, "FRAME")
+    property bool _useOldFrameParam:    controller.parameterExists(-1, "FRAME")
+    property Fact _oldFrameParam:       controller.getParameterFact(-1, "FRAME", false)
+    property Fact _newFrameParam:       controller.getParameterFact(-1, "FRAME_CLASS", false)
+    property Fact _frameTypeParam:      controller.getParameterFact(-1, "FRAME_TYPE", false)
 
     Column {
         anchors.fill:       parent
+
+        VehicleSummaryRow {
+            labelText:  qsTr("Frame Type:")
+            valueText:  controller.currentAirframeTypeName() + " " + _oldFrameParam.enumStringValue
+            visible:    _useOldFrameParam
+        }
+
+        VehicleSummaryRow {
+            labelText:  qsTr("Frame Class:")
+            valueText:  _newFrameParam.enumStringValue
+            visible:    !_useOldFrameParam
+
+        }
+
         VehicleSummaryRow {
-            id: nameRow;
-            labelText: qsTr("Frame Type:")
-            valueText: controller.currentAirframeTypeName() + " " + (sysIdFact.valueString === "0" ? "Plus"
-                     : sysIdFact.valueString === "1" ? "X"
-                     : sysIdFact.valueString === "2" ? "V"
-                     : sysIdFact.valueString == "3" ? "H"
-                     : /* Fact.value == 10 */  "New Y6");
+            labelText:  qsTr("Frame Type:")
+            valueText:  _frameTypeParam.enumStringValue
+            visible:    !_useOldFrameParam
 
         }
 

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -744,8 +744,10 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle)
     case MAV_TYPE_HELICOPTER:
         if (vehicle->firmwareMajorVersion() < 3 || (vehicle->firmwareMajorVersion() == 3 && vehicle->firmwareMinorVersion() <= 3)) {
             return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml");
-        } else {
+        } else if (vehicle->firmwareMajorVersion() == 3 && vehicle->firmwareMinorVersion() == 4) {
             return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.4.xml");
+        } else {
+            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.5.xml");
         }
     case MAV_TYPE_FIXED_WING:
         if (vehicle->firmwareMajorVersion() < 3 || (vehicle->firmwareMajorVersion() == 3 && vehicle->firmwareMinorVersion() <= 3)) {

src/FirmwarePlugin/APM/APMResources.qrc

@@ -45,6 +45,7 @@
         <file alias="APMParameterFactMetaData.Plane.3.7.xml">APMParameterFactMetaData.Plane.3.7.xml</file>
         <file alias="APMParameterFactMetaData.Copter.3.3.xml">APMParameterFactMetaData.Copter.3.3.xml</file>
         <file alias="APMParameterFactMetaData.Copter.3.4.xml">APMParameterFactMetaData.Copter.3.4.xml</file>
+        <file alias="APMParameterFactMetaData.Copter.3.5.xml">APMParameterFactMetaData.Copter.3.5.xml</file>
         <file alias="APMParameterFactMetaData.Rover.3.0.xml">APMParameterFactMetaData.Rover.3.0.xml</file>
         <file alias="APMParameterFactMetaData.Sub.3.4.xml">APMParameterFactMetaData.Sub.3.4.xml</file>
         <file alias="CopterGeoFenceEditor.qml">CopterGeoFenceEditor.qml</file>