diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro index c4796573b3f21898f3e39e4ec5512a5510f5fd15..ccb7fe5319ac010b544ed139566d7549b76827d9 100644 --- a/qgroundcontrol.pro +++ b/qgroundcontrol.pro @@ -553,6 +553,7 @@ SOURCES += \ INCLUDEPATH += \ src/AutoPilotPlugins/Common \ src/AutoPilotPlugins/PX4 \ + src/AutoPilotPlugins/APM \ src/FirmwarePlugin \ src/Vehicle \ src/VehicleSetup \ @@ -564,6 +565,8 @@ HEADERS+= \ src/AutoPilotPlugins/APM/APMAirframeComponent.h \ src/AutoPilotPlugins/APM/APMComponent.h \ src/AutoPilotPlugins/APM/APMRadioComponent.h \ + src/AutoPilotPlugins/APM/APMFlightModesComponent.h \ + src/AutoPilotPlugins/APM/APMFlightModesComponentController.h \ src/AutoPilotPlugins/Common/RadioComponentController.h \ src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h \ src/AutoPilotPlugins/PX4/AirframeComponent.h \ @@ -609,6 +612,8 @@ SOURCES += \ src/AutoPilotPlugins/APM/APMAirframeComponent.cc \ src/AutoPilotPlugins/APM/APMComponent.cc \ src/AutoPilotPlugins/APM/APMRadioComponent.cc \ + src/AutoPilotPlugins/APM/APMFlightModesComponent.cc \ + src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc \ src/AutoPilotPlugins/Common/RadioComponentController.cc \ src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc \ src/AutoPilotPlugins/PX4/AirframeComponent.cc \ diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc index e231e994c4e4069837bcd41c66edc6ab13d33d4c..f6e741bfe1ccb35c662e71fdf80427fbe8b3b467 100644 --- a/qgroundcontrol.qrc +++ b/qgroundcontrol.qrc @@ -15,6 +15,8 @@ src/FlightDisplay/FlightDisplayView.qml src/AutoPilotPlugins/PX4/FlightModesComponent.qml src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml + src/AutoPilotPlugins/APM/APMFlightModesComponent.qml + src/AutoPilotPlugins/APM/APMFlightModesComponentSummary.qml src/ui/preferences/BluetoothSettings.qml src/ui/preferences/DebugWindow.qml diff --git a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc index 1b1ef574eb7dae858f8fa94d140880dff0178c85..91413929d2dcc1be6e2612f5f159c6159f7b2331 100644 --- a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc +++ b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc @@ -33,6 +33,8 @@ APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent) : AutoPilotPlugin(vehicle, parent) , _incorrectParameterVersion(false) , _airframeComponent(NULL) + , _flightModesComponent(NULL) + , _radioComponent(NULL) { Q_ASSERT(vehicle); } @@ -53,6 +55,11 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void) _airframeComponent->setupTriggerSignals(); _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent)); + _flightModesComponent = new APMFlightModesComponent(_vehicle, this); + Q_CHECK_PTR(_flightModesComponent); + _flightModesComponent->setupTriggerSignals(); + _components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent)); + _radioComponent = new APMRadioComponent(_vehicle, this); Q_CHECK_PTR(_radioComponent); _radioComponent->setupTriggerSignals(); diff --git a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h index 02b2987b72d664f31de028290aa1f8be60e9e206..60691ce8bc790f91c270b3bd8a015fbe42ba8dff 100644 --- a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h +++ b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h @@ -28,6 +28,7 @@ #include "Vehicle.h" #include "APMAirframeComponent.h" #include "APMRadioComponent.h" +#include "APMFlightModesComponent.h" /// This is the APM specific implementation of the AutoPilot class. class APMAutoPilotPlugin : public AutoPilotPlugin @@ -41,8 +42,9 @@ public: // Overrides from AutoPilotPlugin virtual const QVariantList& vehicleComponents(void); - APMAirframeComponent* airframeComponent(void) { return _airframeComponent; } - APMRadioComponent* radioComponent(void) { return _radioComponent; } + APMAirframeComponent* airframeComponent (void) { return _airframeComponent; } + APMFlightModesComponent* flightModesComponent(void) { return _flightModesComponent; } + APMRadioComponent* radioComponent (void) { return _radioComponent; } public slots: // FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle @@ -51,8 +53,10 @@ public slots: private: bool _incorrectParameterVersion; ///< true: parameter version incorrect, setup not allowed QVariantList _components; - APMAirframeComponent* _airframeComponent; - APMRadioComponent* _radioComponent; + + APMAirframeComponent* _airframeComponent; + APMFlightModesComponent* _flightModesComponent; + APMRadioComponent* _radioComponent; }; #endif diff --git a/src/AutoPilotPlugins/APM/APMFlightModesComponent.cc b/src/AutoPilotPlugins/APM/APMFlightModesComponent.cc new file mode 100644 index 0000000000000000000000000000000000000000..afa0b4bf78d1151352e6b8cf1b5ca7e2ebf3d6d7 --- /dev/null +++ b/src/AutoPilotPlugins/APM/APMFlightModesComponent.cc @@ -0,0 +1,102 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2014 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + +#include "APMFlightModesComponent.h" +#include "APMAutoPilotPlugin.h" + +APMFlightModesComponent::APMFlightModesComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) : + APMComponent(vehicle, autopilot, parent), + _name(tr("Flight Modes")) +{ +} + +QString APMFlightModesComponent::name(void) const +{ + return _name; +} + +QString APMFlightModesComponent::description(void) const +{ + return QString("The Flight Modes Component is used to assign FLight Modes to Channel 5."); +} + +QString APMFlightModesComponent::iconResource(void) const +{ + return "/qmlimages/FlightModesComponentIcon.png"; +} + +bool APMFlightModesComponent::requiresSetup(void) const +{ + return true; +} + +bool APMFlightModesComponent::setupComplete(void) const +{ + return true; +} + +QString APMFlightModesComponent::setupStateDescription(void) const +{ + const char* stateDescription; + + if (requiresSetup()) { + stateDescription = "Requires calibration"; + } else { + stateDescription = "Calibrated"; + } + return QString(stateDescription); +} + +QStringList APMFlightModesComponent::setupCompleteChangedTriggerList(void) const +{ + return QStringList(); +} + +QStringList APMFlightModesComponent::paramFilterList(void) const +{ + return QStringList(); +} + +QUrl APMFlightModesComponent::setupSource(void) const +{ + return QUrl::fromUserInput("qrc:/qml/APMFlightModesComponent.qml"); +} + +QUrl APMFlightModesComponent::summaryQmlSource(void) const +{ + return QUrl::fromUserInput("qrc:/qml/APMFlightModesComponentSummary.qml"); +} + +QString APMFlightModesComponent::prerequisiteSetup(void) const +{ + APMAutoPilotPlugin* plugin = dynamic_cast(_autopilot); + Q_ASSERT(plugin); + + if (!plugin->airframeComponent()->setupComplete()) { + return plugin->airframeComponent()->name(); + } else if (!plugin->radioComponent()->setupComplete()) { + return plugin->radioComponent()->name(); + } + + return QString(); +} diff --git a/src/AutoPilotPlugins/APM/APMFlightModesComponent.h b/src/AutoPilotPlugins/APM/APMFlightModesComponent.h new file mode 100644 index 0000000000000000000000000000000000000000..3a82fadef206f285d4a866e74ea6f8bdfdf8e9dd --- /dev/null +++ b/src/AutoPilotPlugins/APM/APMFlightModesComponent.h @@ -0,0 +1,55 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2014 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + +#ifndef APMFlightModesComponent_H +#define APMFlightModesComponent_H + +#include "APMComponent.h" + +class APMFlightModesComponent : public APMComponent +{ + Q_OBJECT + +public: + APMFlightModesComponent(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; +}; + +#endif diff --git a/src/AutoPilotPlugins/APM/APMFlightModesComponent.qml b/src/AutoPilotPlugins/APM/APMFlightModesComponent.qml new file mode 100644 index 0000000000000000000000000000000000000000..9caf04f69f80ee77da7ed4709cbb68fa999d3d47 --- /dev/null +++ b/src/AutoPilotPlugins/APM/APMFlightModesComponent.qml @@ -0,0 +1,194 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + +import QtQuick 2.5 +import QtQuick.Controls 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 +import QGroundControl.ScreenTools 1.0 + +QGCView { + id: rootQGCView + viewPanel: panel + + QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled } + + APMFlightModesComponentController { + id: controller + factPanel: panel + } + + QGCViewPanel { + id: panel + anchors.fill: parent + + Flickable { + anchors.fill: parent + + Column { + width: parent.width + spacing: ScreenTools.defaultFontPixelHeight + + QGCLabel { + text: "Channel 5 Flight Mode Settings" + font.weight: Font.DemiBold + } + + Rectangle { + width: parent.width + height: flightModeColumn.height + ScreenTools.defaultFontPixelHeight + color: qgcPal.windowShade + + Column { + id: flightModeColumn + anchors.margins: ScreenTools.defaultFontPixelWidth + anchors.left: parent.left + anchors.right: parent.right + anchors.top: parent.top + spacing: ScreenTools.defaultFontPixelHeight + + Repeater { + model: 6 + + Row { + spacing: ScreenTools.defaultFontPixelWidth + + property int index: modelData + 1 + + QGCLabel { + anchors.baseline: modeCombo.baseline + text: "Flight Mode " + index + ":" + } + + FactComboBox { + id: modeCombo + width: ScreenTools.defaultFontPixelWidth * 15 + fact: controller.getParameterFact(-1, "FLTMODE" + index) + indexModel: false + } + + QGCCheckBox { + id: simple + anchors.baseline: modeCombo.baseline + text: "Simple Mode" + visible: !controller.fixedWing + checked: isChecked() + + onClicked: { + var simpleFact = controller.getParameterFact(-1, "SIMPLE") + if (checked) { + simpleFact.value |= 1 << modelData + } else { + simpleFact.value &= ~modelData + } + } + + function isChecked() { + if (simple.visible) { + var simpleFact = controller.getParameterFact(-1, "SIMPLE") + return simpleFact.value & (1 << modelData) + } else { + return false; + } + } + } + + QGCCheckBox { + id: superSimple + anchors.baseline: modeCombo.baseline + text: "Super Simple Mode" + visible: !controller.fixedWing + checked: isChecked() + + onClicked: { + var simpleFact = controller.getParameterFact(-1, "SUPER_SIMPLE") + if (checked) { + simpleFact.value |= 1 << modelData + } else { + simpleFact.value &= ~modelData + } + } + + function isChecked() { + if (superSimple.visible) { + var simpleFact = controller.getParameterFact(-1, "SUPER_SIMPLE") + return simpleFact.value & (1 << modelData) + } else { + return false; + } + } + } + } + } // Repeater - Flight Modes + } // Column - Flight Modes + } // Rectangle - Flight Modes + + QGCLabel { + text: "Channel Options" + font.weight: Font.DemiBold + } + + Rectangle { + width: parent.width + height: channelOptColumn.height + ScreenTools.defaultFontPixelHeight + color: qgcPal.windowShade + + Column { + id: channelOptColumn + anchors.margins: ScreenTools.defaultFontPixelWidth + anchors.left: parent.left + anchors.right: parent.right + anchors.top: parent.top + spacing: ScreenTools.defaultFontPixelHeight + + Repeater { + model: 6 + + Row { + spacing: ScreenTools.defaultFontPixelWidth + + property int index: modelData + 7 + + QGCLabel { + anchors.baseline: optCombo.baseline + text: "Channel option " + index + ":" + } + + FactComboBox { + id: optCombo + width: ScreenTools.defaultFontPixelWidth * 15 + fact: controller.getParameterFact(-1, "CH" + index + "_OPT") + indexModel: false + } + } + } // Repeater -- Channel options + } // Column - Channel options + } // Rectangle - Channel options + } // Column + } // FLickable + } // QGCViewPanel +} // QGCView diff --git a/src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc b/src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc new file mode 100644 index 0000000000000000000000000000000000000000..b1a3dbe457cb6560b94893798ec5f1a8f848acfe --- /dev/null +++ b/src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc @@ -0,0 +1,114 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009, 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + +#include "APMFlightModesComponentController.h" +#include "QGCMAVLink.h" +#include "AutoPilotPluginManager.h" + +#include +#include + +APMFlightModesComponentController::APMFlightModesComponentController(void) + : _channelCount(Vehicle::cMaxRcChannels) +{ + QStringList usedParams; + usedParams << "FLTMODE1" << "FLTMODE2" << "FLTMODE3" << "FLTMODE4" << "FLTMODE5" << "FLTMODE6"; + if (!_allParametersExists(FactSystem::defaultComponentId, usedParams)) { + return; + } + + _init(); + _validateConfiguration(); + + connect(_vehicle, &Vehicle::rcChannelsChanged, this, &APMFlightModesComponentController::_rcChannelsChanged); +} + +void APMFlightModesComponentController::_init(void) +{ + _fixedWing = _vehicle->vehicleType() == MAV_TYPE_FIXED_WING; +} + +/// This will look for parameter settings which would cause the config to not run correctly. +/// It will set _validConfiguration and _configurationErrors as needed. +void APMFlightModesComponentController::_validateConfiguration(void) +{ + _validConfiguration = true; +#if 0 + + // Make sure switches are valid and within channel range + + QStringList switchParams; + QList switchMappings; + + switchParams << "RC_MAP_MODE_SW" << "RC_MAP_ACRO_SW" << "RC_MAP_POSCTL_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_OFFB_SW"; + + for(int i=0; irawValue().toInt(); + switchMappings << map; + + if (map < 0 || map > _channelCount) { + _validConfiguration = false; + _configurationErrors += QString("%1 is set to %2. Mapping must between 0 and %3 (inclusive).\n").arg(switchParams[i]).arg(map).arg(_channelCount); + } + } + + // Make sure mode switches are not double-mapped + + QStringList attitudeParams; + + attitudeParams << "RC_MAP_THROTTLE" << "RC_MAP_YAW" << "RC_MAP_PITCH" << "RC_MAP_ROLL" << "RC_MAP_FLAPS" << "RC_MAP_AUX1" << "RC_MAP_AUX2"; + + for (int i=0; irawValue().toInt(); + + for (int j=0; jrawValue().toFloat(); + if (threshold < 0.0f || threshold > 1.0f) { + _validConfiguration = false; + _configurationErrors += QString("%1 is set to %2. Threshold must between 0.0 and 1.0 (inclusive).\n").arg(thresholdParam).arg(threshold); + } + } +#endif +} + +/// Connected to Vehicle::rcChannelsChanged signal +void APMFlightModesComponentController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels]) +{ + for (int channel=0; channel + + 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 . + + ======================================================================*/ + +#ifndef APMFlightModesComponentController_H +#define APMFlightModesComponentController_H + +#include +#include +#include +#include + +#include "UASInterface.h" +#include "AutoPilotPlugin.h" +#include "FactPanelController.h" +#include "Vehicle.h" + +/// MVC Controller for FlightModesComponent.qml. +class APMFlightModesComponentController : public FactPanelController +{ + Q_OBJECT + +public: + APMFlightModesComponentController(void); + + Q_PROPERTY(int channelCount MEMBER _channelCount CONSTANT) + Q_PROPERTY(bool fixedWing MEMBER _fixedWing CONSTANT) + Q_PROPERTY(QString reservedChannels MEMBER _reservedChannels CONSTANT) + +private slots: + void _rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels]); + +private: + void _init(void); + void _validateConfiguration(void); + + bool _fixedWing; + + int _rcValues[Vehicle::cMaxRcChannels]; + + bool _validConfiguration; + QString _configurationErrors; + int _channelCount; + QString _reservedChannels; +}; + +#endif diff --git a/src/AutoPilotPlugins/APM/APMFlightModesComponentSummary.qml b/src/AutoPilotPlugins/APM/APMFlightModesComponentSummary.qml new file mode 100644 index 0000000000000000000000000000000000000000..4454fe0648bf26e570841fd5c5f51c5e03bf070b --- /dev/null +++ b/src/AutoPilotPlugins/APM/APMFlightModesComponentSummary.qml @@ -0,0 +1,58 @@ +import QtQuick 2.5 +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 flightMode1: controller.getParameterFact(-1, "FLTMODE1") + property Fact flightMode2: controller.getParameterFact(-1, "FLTMODE2") + property Fact flightMode3: controller.getParameterFact(-1, "FLTMODE3") + property Fact flightMode4: controller.getParameterFact(-1, "FLTMODE4") + property Fact flightMode5: controller.getParameterFact(-1, "FLTMODE5") + property Fact flightMode6: controller.getParameterFact(-1, "FLTMODE6") + + Column { + anchors.fill: parent + anchors.margins: 8 + + VehicleSummaryRow { + labelText: "Flight Mode 1:" + valueText: flightMode1.enumStringValue + } + + VehicleSummaryRow { + labelText: "Flight Mode 2:" + valueText: flightMode2.enumStringValue + } + + VehicleSummaryRow { + labelText: "Flight Mode 3:" + valueText: flightMode3.enumStringValue + } + + VehicleSummaryRow { + labelText: "Flight Mode 4:" + valueText: flightMode4.enumStringValue + } + + VehicleSummaryRow { + labelText: "Flight Mode 5:" + valueText: flightMode5.enumStringValue + } + + VehicleSummaryRow { + labelText: "Flight Mode 6:" + valueText: flightMode6.enumStringValue + } + } +} diff --git a/src/FactSystem/Fact.cc b/src/FactSystem/Fact.cc index f3740f4aa55adeae8b5bad053549d3340501571d..f3a61761428170e8fe7f636b0c19e9bfe05294dc 100644 --- a/src/FactSystem/Fact.cc +++ b/src/FactSystem/Fact.cc @@ -25,6 +25,7 @@ /// @author Don Gagne #include "Fact.h" +#include "QGCMAVLink.h" #include @@ -168,7 +169,7 @@ QString Fact::enumStringValue(void) const { if (_metaData) { int enumIndex = this->enumIndex(); - if (enumIndex > 0 && enumIndex < _metaData->enumStrings().count()) { + if (enumIndex >= 0 && enumIndex < _metaData->enumStrings().count()) { return _metaData->enumStrings()[enumIndex]; } } else { @@ -364,6 +365,41 @@ QString Fact::group(void) const void Fact::setMetaData(FactMetaData* metaData) { + static QStringList apmFlightModeParamList; + static QStringList apmFlightModeEnumStrings; + static QVariantList apmFlightModeEnumValues; + + static QStringList apmChannelOptParamList; + static QStringList apmChannelOptEnumStrings; + static QVariantList apmChannelOptEnumValues; + + // FIXME: Hack to stuff enums into APM parameters, wating on real APM metadata + + if (apmFlightModeEnumStrings.count() == 0) { + apmFlightModeParamList << "FLTMODE1" << "FLTMODE2" << "FLTMODE3" << "FLTMODE4" << "FLTMODE5" << "FLTMODE6"; + apmFlightModeEnumStrings << "Stabilize" << "Acro" << "AltHold" << "Auto" << "Guided" << "Loiter" << "RTL" << "Circle" + << "Land" << "Drift" << "Sport" << "Flip" << "AutoTune" << "PosHold" << "Brake"; + for (int i=0; isetEnumInfo(apmFlightModeEnumStrings, apmFlightModeEnumValues); + } else if (apmChannelOptParamList.contains(name())) { + metaData->setEnumInfo(apmChannelOptEnumStrings, apmChannelOptEnumValues); + } + _metaData = metaData; emit valueChanged(cookedValue()); } diff --git a/src/QGCApplication.cc b/src/QGCApplication.cc index e8ab9950568b69c9afa2ccfcc3649cac8704cd9d..b3e795af32cac8103de34942c9257d4afe060f7a 100644 --- a/src/QGCApplication.cc +++ b/src/QGCApplication.cc @@ -62,6 +62,7 @@ #include "ParameterEditorController.h" #include "CustomCommandWidgetController.h" #include "FlightModesComponentController.h" +#include "APMFlightModesComponentController.h" #include "AirframeComponentController.h" #include "SensorsComponentController.h" #include "PowerComponentController.h" @@ -354,16 +355,17 @@ void QGCApplication::_initCommon(void) qmlRegisterUncreatableType ("QGroundControl.JoystickManager", 1, 0, "JoystickManager", "Reference only"); qmlRegisterUncreatableType ("QGroundControl.JoystickManager", 1, 0, "Joystick", "Reference only"); - qmlRegisterType ("QGroundControl.Controllers", 1, 0, "ParameterEditorController"); - qmlRegisterType ("QGroundControl.Controllers", 1, 0, "FlightModesComponentController"); - qmlRegisterType ("QGroundControl.Controllers", 1, 0, "AirframeComponentController"); - qmlRegisterType ("QGroundControl.Controllers", 1, 0, "SensorsComponentController"); - qmlRegisterType ("QGroundControl.Controllers", 1, 0, "PowerComponentController"); - qmlRegisterType ("QGroundControl.Controllers", 1, 0, "RadioComponentController"); - qmlRegisterType ("QGroundControl.Controllers", 1, 0, "ScreenToolsController"); - qmlRegisterType ("QGroundControl.Controllers", 1, 0, "MainToolBarController"); - qmlRegisterType ("QGroundControl.Controllers", 1, 0, "MissionController"); - qmlRegisterType ("QGroundControl.Controllers", 1, 0, "FlightDisplayViewController"); + qmlRegisterType ("QGroundControl.Controllers", 1, 0, "ParameterEditorController"); + qmlRegisterType ("QGroundControl.Controllers", 1, 0, "APMFlightModesComponentController"); + qmlRegisterType ("QGroundControl.Controllers", 1, 0, "FlightModesComponentController"); + qmlRegisterType ("QGroundControl.Controllers", 1, 0, "AirframeComponentController"); + qmlRegisterType ("QGroundControl.Controllers", 1, 0, "SensorsComponentController"); + qmlRegisterType ("QGroundControl.Controllers", 1, 0, "PowerComponentController"); + qmlRegisterType ("QGroundControl.Controllers", 1, 0, "RadioComponentController"); + qmlRegisterType ("QGroundControl.Controllers", 1, 0, "ScreenToolsController"); + qmlRegisterType ("QGroundControl.Controllers", 1, 0, "MainToolBarController"); + qmlRegisterType ("QGroundControl.Controllers", 1, 0, "MissionController"); + qmlRegisterType ("QGroundControl.Controllers", 1, 0, "FlightDisplayViewController"); #ifndef __mobile__ qmlRegisterType ("QGroundControl.Controllers", 1, 0, "ViewWidgetController"); diff --git a/src/comm/MockLink.cc b/src/comm/MockLink.cc index 489f573436471927aff4aa2918b52aace3f0cef1..778345264cd8ecfeaf585c9cc6d7d9708a4e2c6b 100644 --- a/src/comm/MockLink.cc +++ b/src/comm/MockLink.cc @@ -279,7 +279,7 @@ void MockLink::_sendHeartBeat(void) mavlink_msg_heartbeat_pack(_vehicleSystemId, _vehicleComponentId, &msg, - MAV_TYPE_QUADROTOR, // MAV_TYPE + _vehicleType, // MAV_TYPE _firmwareType, // MAV_AUTOPILOT _mavBaseMode, // MAV_MODE _mavCustomMode, // custom mode