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Unverified Commit e5de3fdb authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #9019 from DonLakeFlyer/BATTERY_STATUS 

Full support for BATTERY_STATUS mavlink message
parents 2dc44666 4e61315d
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Showing with 756 additions and 348 deletions
qgroundcontrol.pro
View file @ e5de3fdb
......@@ -705,6 +705,7 @@ HEADERS += \
src/Vehicle/TrajectoryPoints.h \
src/Vehicle/Vehicle.h \
src/Vehicle/VehicleObjectAvoidance.h \
src/Vehicle/VehicleBatteryFactGroup.h \
src/VehicleSetup/JoystickConfigController.h \
src/comm/LinkConfiguration.h \
src/comm/LinkInterface.h \
......@@ -924,6 +925,7 @@ SOURCES += \
src/Vehicle/TrajectoryPoints.cc \
src/Vehicle/Vehicle.cc \
src/Vehicle/VehicleObjectAvoidance.cc \
src/Vehicle/VehicleBatteryFactGroup.cc \
src/VehicleSetup/JoystickConfigController.cc \
src/comm/LinkConfiguration.cc \
src/comm/LinkInterface.cc \
......
src/FactSystem/FactGroup.cc
View file @ e5de3fdb
......@@ -18,8 +18,6 @@
#include <QFile>
#include <QQmlEngine>
QGC_LOGGING_CATEGORY(FactGroupLog, "FactGroupLog")
FactGroup::FactGroup(int updateRateMsecs, const QString& metaDataFile, QObject* parent, bool ignoreCamelCase)
: QObject(parent)
, _updateRateMSecs(updateRateMsecs)
......@@ -135,6 +133,8 @@ void FactGroup::_addFact(Fact* fact, const QString& name)
}
_nameToFactMap[name] = fact;
_factNames.append(name);
emit factNamesChanged();
}
void FactGroup::_addFactGroup(FactGroup* factGroup, const QString& name)
......@@ -145,6 +145,8 @@ void FactGroup::_addFactGroup(FactGroup* factGroup, const QString& name)
}
_nameToFactGroupMap[name] = factGroup;
emit factGroupNamesChanged();
}
void FactGroup::_updateAllValues(void)
......@@ -175,3 +177,8 @@ QString FactGroup::_camelCase(const QString& text)
{
return text[0].toLower() + text.right(text.length() - 1);
}
void FactGroup::handleMessage(Vehicle* /* vehicle */, mavlink_message_t& /* message */)
{
// Default implementation does nothing
}
src/FactSystem/FactGroup.h
View file @ e5de3fdb
......@@ -7,18 +7,17 @@
*
****************************************************************************/
#ifndef FactGroup_H
#define FactGroup_H
#pragma once
#include "Fact.h"
#include "QGCMAVLink.h"
#include "QGCLoggingCategory.h"
#include <QStringList>
#include <QMap>
#include <QTimer>
Q_DECLARE_LOGGING_CATEGORY(VehicleLog)
class Vehicle;
/// Used to group Facts together into an object hierarachy.
class FactGroup : public QObject
......@@ -29,8 +28,8 @@ public:
FactGroup(int updateRateMsecs, const QString& metaDataFile, QObject* parent = nullptr, bool ignoreCamelCase = false);
FactGroup(int updateRateMsecs, QObject* parent = nullptr, bool ignoreCamelCase = false);
Q_PROPERTY(QStringList factNames READ factNames CONSTANT)
Q_PROPERTY(QStringList factGroupNames READ factGroupNames CONSTANT)
Q_PROPERTY(QStringList factNames READ factNames NOTIFY factNamesChanged)
Q_PROPERTY(QStringList factGroupNames READ factGroupNames NOTIFY factGroupNamesChanged)
/// @ return true: if the fact exists in the group
Q_INVOKABLE bool factExists(const QString& name);
......@@ -49,6 +48,13 @@ public:
QStringList factNames(void) const { return _factNames; }
QStringList factGroupNames(void) const { return _nameToFactGroupMap.keys(); }
/// Allows a FactGroup to parse incoming messages and fill in values
virtual void handleMessage(Vehicle* vehicle, mavlink_message_t& message);
signals:
void factNamesChanged (void);
void factGroupNamesChanged (void);
protected slots:
virtual void _updateAllValues(void);
......@@ -71,5 +77,3 @@ private:
bool _ignoreCamelCase = false;
QTimer _updateTimer;
};
#endif
src/QGCApplication.cc
View file @ e5de3fdb
......@@ -106,6 +106,7 @@
#include "TerrainProfile.h"
#include "ToolStripAction.h"
#include "ToolStripActionList.h"
#include "QGCMAVLink.h"
#if defined(QGC_ENABLE_PAIRING)
#include "PairingManager.h"
......@@ -168,6 +169,11 @@ static QObject* screenToolsControllerSingletonFactory(QQmlEngine*, QJSEngine*)
return screenToolsController;
}
static QObject* mavlinkSingletonFactory(QQmlEngine*, QJSEngine*)
{
return new QGCMAVLink();
}
static QObject* qgroundcontrolQmlGlobalSingletonFactory(QQmlEngine*, QJSEngine*)
{
// We create this object as a QGCTool even though it isn't in the toolbox
......@@ -586,6 +592,7 @@ void QGCApplication::_initCommon()
qmlRegisterSingletonType<QGroundControlQmlGlobal> ("QGroundControl", 1, 0, "QGroundControl", qgroundcontrolQmlGlobalSingletonFactory);
qmlRegisterSingletonType<ScreenToolsController> ("QGroundControl.ScreenToolsController", 1, 0, "ScreenToolsController", screenToolsControllerSingletonFactory);
qmlRegisterSingletonType<ShapeFileHelper> ("QGroundControl.ShapeFileHelper", 1, 0, "ShapeFileHelper", shapeFileHelperSingletonFactory);
qmlRegisterSingletonType<ShapeFileHelper> ("MAVLink", 1, 0, "MAVLink", mavlinkSingletonFactory);
// Although this should really be in _initForNormalAppBoot putting it here allowws us to create unit tests which pop up more easily
if(QFontDatabase::addApplicationFont(":/fonts/opensans") < 0) {
......
src/QmlControls/InstrumentValueData.cc
View file @ e5de3fdb
......@@ -52,13 +52,7 @@ void InstrumentValueData::_activeVehicleChanged(Vehicle* activeVehicle)
_activeVehicle = activeVehicle;
_factGroupNames.clear();
_factGroupNames = _activeVehicle->factGroupNames();
for (QString& name: _factGroupNames) {
name[0] = name[0].toUpper();
}
_factGroupNames.prepend(vehicleFactGroupName);
emit factGroupNamesChanged(_factGroupNames);
emit factGroupNamesChanged();
if (_fact) {
_fact = nullptr;
......@@ -85,13 +79,11 @@ void InstrumentValueData::clearFact(void)
{
_fact = nullptr;
_factName.clear();
_factGroupName.clear();
_factValueNames.clear();
_text.clear();
_icon.clear();
_showUnits = true;
emit factValueNamesChanged (_factValueNames);
emit factValueNamesChanged ();
emit factChanged (_fact);
emit factNameChanged (_factName);
emit factGroupNameChanged (_factGroupName);
......@@ -113,17 +105,12 @@ void InstrumentValueData::setFact(const QString& factGroupName, const QString& f
} else {
factGroup = _activeVehicle->getFactGroup(factGroupName);
}
_factValueNames.clear();
_factValueNames = factGroup->factNames();
for (QString& name: _factValueNames) {
name[0] = name[0].toUpper();
}
_factGroupName = factGroupName;
QString nonEmptyFactName;
if (factGroup) {
if (factName.isEmpty()) {
nonEmptyFactName = _factValueNames[0];
nonEmptyFactName = factValueNames()[0];
} else {
nonEmptyFactName = factName;
}
......@@ -131,16 +118,14 @@ void InstrumentValueData::setFact(const QString& factGroupName, const QString& f
}
if (_fact) {
_factGroupName = factGroupName;
_factName = nonEmptyFactName;
connect(_fact, &Fact::rawValueChanged, this, &InstrumentValueData::_updateRanges);
} else {
_factName.clear();
_factGroupName.clear();
_factName.clear();
}
emit factValueNamesChanged (_factValueNames);
emit factValueNamesChanged ();
emit factChanged (_fact);
emit factNameChanged (_factName);
emit factGroupNameChanged (_factGroupName);
......@@ -364,3 +349,32 @@ int InstrumentValueData::_currentRangeIndex(const QVariant& value)
}
return _rangeValues.count();
}
QStringList InstrumentValueData::factGroupNames(void) const
{
QStringList groupNames = _activeVehicle->factGroupNames();
for (QString& name: groupNames) {
name[0] = name[0].toUpper();
}
groupNames.prepend(vehicleFactGroupName);
return groupNames;
}
QStringList InstrumentValueData::factValueNames(void) const
{
FactGroup* factGroup = nullptr;
if (_factGroupName == vehicleFactGroupName) {
factGroup = _activeVehicle;
} else {
factGroup = _activeVehicle->getFactGroup(_factGroupName);
}
QStringList valueNames = factGroup->factNames();
for (QString& name: valueNames) {
name[0] = name[0].toUpper();
}
return valueNames;
}
src/QmlControls/InstrumentValueData.h
View file @ e5de3fdb
......@@ -33,8 +33,8 @@ public:
explicit InstrumentValueData(FactValueGrid* factValueGrid, QObject* parent);
Q_PROPERTY(FactValueGrid* factValueGrid MEMBER _factValueGrid CONSTANT)
Q_PROPERTY(QStringList factGroupNames MEMBER _factGroupNames NOTIFY factGroupNamesChanged)
Q_PROPERTY(QStringList factValueNames MEMBER _factValueNames NOTIFY factValueNamesChanged)
Q_PROPERTY(QStringList factGroupNames READ factGroupNames NOTIFY factGroupNamesChanged)
Q_PROPERTY(QStringList factValueNames READ factValueNames NOTIFY factValueNamesChanged)
Q_PROPERTY(QString factGroupName READ factGroupName NOTIFY factGroupNameChanged)
Q_PROPERTY(QString factName READ factName NOTIFY factNameChanged)
Q_PROPERTY(Fact* fact READ fact NOTIFY factChanged)
......@@ -58,6 +58,8 @@ public:
Q_INVOKABLE void addRangeValue (void);
Q_INVOKABLE void removeRangeValue(int index);
QStringList factGroupNames (void) const;
QStringList factValueNames (void) const;
QString factGroupName (void) const { return _factGroupName; }
QString factName (void) const { return _factName; }
Fact* fact (void) { return _fact; }
......@@ -88,8 +90,8 @@ signals:
void textChanged (QString text);
void showUnitsChanged (bool showUnits);
void iconChanged (const QString& icon);
void factGroupNamesChanged (const QStringList& factGroupNames);
void factValueNamesChanged (const QStringList& factValueNames);
void factGroupNamesChanged (void);
void factValueNamesChanged (void);
void rangeTypeChanged (RangeType rangeType);
void rangeValuesChanged (const QVariantList& rangeValues);
void rangeColorsChanged (const QVariantList& rangeColors);
......@@ -119,8 +121,6 @@ private:
QString _text;
bool _showUnits = true;
QString _icon;
QStringList _factGroupNames;
QStringList _factValueNames;
QColor _currentColor;
double _currentOpacity = 1.0;
QString _currentIcon;
......
src/Settings/AppSettings.h
View file @ e5de3fdb
......@@ -32,7 +32,7 @@ public:
DEFINE_SETTINGFACT(offlineEditingHoverSpeed)
DEFINE_SETTINGFACT(offlineEditingAscentSpeed)
DEFINE_SETTINGFACT(offlineEditingDescentSpeed)
DEFINE_SETTINGFACT(batteryPercentRemainingAnnounce)
DEFINE_SETTINGFACT(batteryPercentRemainingAnnounce) // Important: This is only used to calculate battery swaps
DEFINE_SETTINGFACT(defaultMissionItemAltitude)
DEFINE_SETTINGFACT(telemetrySave)
DEFINE_SETTINGFACT(telemetrySaveNotArmed)
......
src/Vehicle/BatteryFact.json
View file @ e5de3fdb
......@@ -3,6 +3,27 @@
"fileType": "FactMetaData",
"QGC.MetaData.Facts":
[
{
"name": "id",
"shortDesc": "Battery Id",
"type": "uint8"
},
{
"name": "batteryFunction",
"shortDesc": "Battery Function",
"type": "uint8",
"enumStrings": "n/a,All Flight Systems,Propulsion,Avionics,Payload",
"enumValues": "0,1,2,3,4",
"decimalPlaces": 0
},
{
"name": "batteryType",
"shortDesc": "Battery Type",
"type": "uint8",
"enumStrings": "n/a,LIPO,LIFE,LION,NIMH",
"enumValues": "0,1,2,3,4",
"decimalPlaces": 0
},
{
"name": "voltage",
"shortDesc": "Voltage",
......@@ -52,12 +73,17 @@
"decimalPlaces": 0,
"units": "s"
},
{
"name": "timeRemainingStr",
"shortDesc": "Time Remaining",
"type": "string"
},
{
"name": "chargeState",
"shortDesc": "Charge State",
"type": "uint8",
"enumStrings": "n/a,Normal Operation,Low Battery State,Critical Battery State,Emergency Battery State,Battery Failed,Battery Unhealthy",
"enumValues": "0,1,2,3,4,5,6",
"enumStrings": "n/a,Ok,Low,Critical,Emergency,Failed,Unhealthy,Charging",
"enumValues": "0,1,2,3,4,5,6,7",
"decimalPlaces": 0
}
]
......
src/Vehicle/Vehicle.cc
View file @ e5de3fdb
......@@ -48,6 +48,7 @@
#include "FTPManager.h"
#include "ComponentInformationManager.h"
#include "InitialConnectStateMachine.h"
#include "VehicleBatteryFactGroup.h"
#if defined(QGC_AIRMAP_ENABLED)
#include "AirspaceVehicleManager.h"
......@@ -86,8 +87,6 @@ const char* Vehicle::_hobbsFactName = "hobbs";
const char* Vehicle::_throttlePctFactName = "throttlePct";
const char* Vehicle::_gpsFactGroupName = "gps";
const char* Vehicle::_battery1FactGroupName = "battery";
const char* Vehicle::_battery2FactGroupName = "battery2";
const char* Vehicle::_windFactGroupName = "wind";
const char* Vehicle::_vibrationFactGroupName = "vibration";
const char* Vehicle::_temperatureFactGroupName = "temperature";
......@@ -182,7 +181,6 @@ Vehicle::Vehicle(LinkInterface* link,
, _firmwareVersionType(FIRMWARE_VERSION_TYPE_OFFICIAL)
, _gitHash(versionNotSetValue)
, _uid(0)
, _lastAnnouncedLowBatteryPercent(100)
, _priorityLinkCommanded(false)
, _orbitActive(false)
, _pidTuningTelemetryMode(false)
......@@ -208,8 +206,6 @@ Vehicle::Vehicle(LinkInterface* link,
, _hobbsFact (0, _hobbsFactName, FactMetaData::valueTypeString)
, _throttlePctFact (0, _throttlePctFactName, FactMetaData::valueTypeUint16)
, _gpsFactGroup(this)
, _battery1FactGroup(this)
, _battery2FactGroup(this)
, _windFactGroup(this)
, _vibrationFactGroup(this)
, _temperatureFactGroup(this)
......@@ -287,7 +283,6 @@ Vehicle::Vehicle(LinkInterface* link,
// Start csv logger
connect(&_csvLogTimer, &QTimer::timeout, this, &Vehicle::_writeCsvLine);
_csvLogTimer.start(1000);
_lastBatteryAnnouncement.start();
}
// Disconnected Vehicle for offline editing
......@@ -371,7 +366,6 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
, _firmwareVersionType(FIRMWARE_VERSION_TYPE_OFFICIAL)
, _gitHash(versionNotSetValue)
, _uid(0)
, _lastAnnouncedLowBatteryPercent(100)
, _orbitActive(false)
, _pidTuningTelemetryMode(false)
, _pidTuningWaitingForRates(false)
......@@ -396,8 +390,6 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
, _hobbsFact (0, _hobbsFactName, FactMetaData::valueTypeString)
, _throttlePctFact (0, _throttlePctFactName, FactMetaData::valueTypeUint16)
, _gpsFactGroup(this)
, _battery1FactGroup(this)
, _battery2FactGroup(this)
, _windFactGroup(this)
, _vibrationFactGroup(this)
, _clockFactGroup(this)
......@@ -504,8 +496,6 @@ void Vehicle::_commonInit()
_addFact(&_hobbsFact, _hobbsFactName);
_addFactGroup(&_gpsFactGroup, _gpsFactGroupName);
_addFactGroup(&_battery1FactGroup, _battery1FactGroupName);
_addFactGroup(&_battery2FactGroup, _battery2FactGroupName);
_addFactGroup(&_windFactGroup, _windFactGroupName);
_addFactGroup(&_vibrationFactGroup, _vibrationFactGroupName);
_addFactGroup(&_temperatureFactGroup, _temperatureFactGroupName);
......@@ -714,6 +704,16 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
_waitForMavlinkMessageMessageReceived(message);
// Battery fact groups are created dynamically as new batteries are discovered
VehicleBatteryFactGroup::handleMessageForFactGroupCreation(this, message);
// Let the fact groups take a whack at the mavlink traffic
QStringList groupNames = factGroupNames();
for (int i=0; i<groupNames.count(); i++) {
FactGroup* factGroup = getFactGroup(groupNames[i]);
factGroup->handleMessage(this, message);
}
switch (message.msgid) {
case MAVLINK_MSG_ID_HOME_POSITION:
_handleHomePosition(message);
......@@ -1343,8 +1343,6 @@ void Vehicle::_handleHighLatency(mavlink_message_t& message)
_windFactGroup.speed()->setRawValue((double)highLatency.airspeed / 5.0);
_battery1FactGroup.percentRemaining()->setRawValue(highLatency.battery_remaining);
_temperatureFactGroup.temperature1()->setRawValue(highLatency.temperature_air);
_gpsFactGroup.lat()->setRawValue(coordinate.latitude);
......@@ -1391,8 +1389,6 @@ void Vehicle::_handleHighLatency2(mavlink_message_t& message)
_windFactGroup.direction()->setRawValue((double)highLatency2.wind_heading * 2.0);
_windFactGroup.speed()->setRawValue((double)highLatency2.windspeed / 5.0);
_battery1FactGroup.percentRemaining()->setRawValue(highLatency2.battery);
_temperatureFactGroup.temperature1()->setRawValue(highLatency2.temperature_air);
_gpsFactGroup.lat()->setRawValue(highLatency2.latitude * 1e-7);
......@@ -1617,35 +1613,6 @@ bool Vehicle::_apmArmingNotRequired()
_parameterManager->getParameter(FactSystem::defaultComponentId, armingRequireParam)->rawValue().toInt() == 0;
}
void Vehicle::_batteryStatusWorker(int batteryId, double voltage, double current, double batteryRemainingPct)
{
VehicleBatteryFactGroup* pBatteryFactGroup = nullptr;
if (batteryId == 0) {
pBatteryFactGroup = &_battery1FactGroup;
} else if (batteryId == 1) {
pBatteryFactGroup = &_battery2FactGroup;
} else {
return;
}
pBatteryFactGroup->voltage()->setRawValue(voltage);
pBatteryFactGroup->current()->setRawValue(current);
pBatteryFactGroup->instantPower()->setRawValue(voltage * current);
pBatteryFactGroup->percentRemaining()->setRawValue(batteryRemainingPct);
//-- Low battery warning
if (batteryId == 0 && !qIsNaN(batteryRemainingPct)) {
int warnThreshold = _settingsManager->appSettings()->batteryPercentRemainingAnnounce()->rawValue().toInt();
if (batteryRemainingPct < warnThreshold &&
batteryRemainingPct < _lastAnnouncedLowBatteryPercent &&
_lastBatteryAnnouncement.elapsed() > (batteryRemainingPct < warnThreshold * 0.5 ? 15000 : 30000)) {
_say(tr("%1 low battery: %2 percent remaining").arg(_vehicleIdSpeech()).arg(static_cast<int>(batteryRemainingPct)));
_lastBatteryAnnouncement.start();
_lastAnnouncedLowBatteryPercent = static_cast<int>(batteryRemainingPct);
}
}
}
void Vehicle::_handleSysStatus(mavlink_message_t& message)
{
mavlink_sys_status_t sysStatus;
......@@ -1697,52 +1664,64 @@ void Vehicle::_handleSysStatus(mavlink_message_t& message)
_onboardControlSensorsUnhealthy = newSensorsUnhealthy;
emit sensorsUnhealthyBitsChanged(_onboardControlSensorsUnhealthy);
}
// BATTERY_STATUS is currently unreliable on PX4 stack so we rely on SYS_STATUS for partial battery 0 information to work around it
_batteryStatusWorker(0 /* batteryId */,
sysStatus.voltage_battery == UINT16_MAX ? qQNaN() : static_cast<double>(sysStatus.voltage_battery) / 1000.0,
sysStatus.current_battery == -1 ? qQNaN() : static_cast<double>(sysStatus.current_battery) / 100.0,
sysStatus.battery_remaining == -1 ? qQNaN() : sysStatus.battery_remaining);
}
void Vehicle::_handleBatteryStatus(mavlink_message_t& message)
{
mavlink_battery_status_t bat_status;
mavlink_msg_battery_status_decode(&message, &bat_status);
mavlink_battery_status_t batteryStatus;
mavlink_msg_battery_status_decode(&message, &batteryStatus);
VehicleBatteryFactGroup* pBatteryFactGroup = nullptr;
if (bat_status.id == 0) {
pBatteryFactGroup = &_battery1FactGroup;
} else if (bat_status.id == 1) {
pBatteryFactGroup = &_battery2FactGroup;
} else {
return;
if (!_lowestBatteryChargeStateAnnouncedMap.contains(batteryStatus.id)) {
_lowestBatteryChargeStateAnnouncedMap[batteryStatus.id] = batteryStatus.charge_state;
}
double voltage = qQNaN();
for (int i=0; i<10; i++) {
double cellVoltage = bat_status.voltages[i] == UINT16_MAX ? qQNaN() : static_cast<double>(bat_status.voltages[i]) / 1000.0;
if (qIsNaN(cellVoltage)) {
QString batteryMessage;
switch (batteryStatus.charge_state) {
case MAV_BATTERY_CHARGE_STATE_OK:
_lowestBatteryChargeStateAnnouncedMap[batteryStatus.id] = batteryStatus.charge_state;
break;
case MAV_BATTERY_CHARGE_STATE_LOW:
if (batteryStatus.charge_state > _lowestBatteryChargeStateAnnouncedMap[batteryStatus.id]) {
_lowestBatteryChargeStateAnnouncedMap[batteryStatus.id] = batteryStatus.charge_state;
batteryMessage = tr("battery %1 level low");
}
if (i == 0) {
voltage = cellVoltage;
} else {
voltage += cellVoltage;
break;
case MAV_BATTERY_CHARGE_STATE_CRITICAL:
if (batteryStatus.charge_state > _lowestBatteryChargeStateAnnouncedMap[batteryStatus.id]) {
_lowestBatteryChargeStateAnnouncedMap[batteryStatus.id] = batteryStatus.charge_state;
batteryMessage = tr("battery %1 level is critical");
}
break;
case MAV_BATTERY_CHARGE_STATE_EMERGENCY:
if (batteryStatus.charge_state > _lowestBatteryChargeStateAnnouncedMap[batteryStatus.id]) {
_lowestBatteryChargeStateAnnouncedMap[batteryStatus.id] = batteryStatus.charge_state;
batteryMessage = tr("battery %1 level emergency");
}
break;
case MAV_BATTERY_CHARGE_STATE_FAILED:
if (batteryStatus.charge_state > _lowestBatteryChargeStateAnnouncedMap[batteryStatus.id]) {
_lowestBatteryChargeStateAnnouncedMap[batteryStatus.id] = batteryStatus.charge_state;
batteryMessage = tr("battery %1 failed");
}
break;
case MAV_BATTERY_CHARGE_STATE_UNHEALTHY:
if (batteryStatus.charge_state > _lowestBatteryChargeStateAnnouncedMap[batteryStatus.id]) {
_lowestBatteryChargeStateAnnouncedMap[batteryStatus.id] = batteryStatus.charge_state;
batteryMessage = tr("battery %1 unhealthy");
}
break;
}
pBatteryFactGroup->temperature()->setRawValue(bat_status.temperature == INT16_MAX ? qQNaN() : static_cast<double>(bat_status.temperature) / 100.0);
pBatteryFactGroup->mahConsumed()->setRawValue(bat_status.current_consumed == -1 ? qQNaN() : bat_status.current_consumed);
pBatteryFactGroup->chargeState()->setRawValue(bat_status.charge_state);
pBatteryFactGroup->timeRemaining()->setRawValue(bat_status.time_remaining == 0 ? qQNaN() : bat_status.time_remaining);
// BATTERY_STATUS is currently unreliable on PX4 stack so we rely on SYS_STATUS for partial battery 0 information to work around it
if (bat_status.id != 0) {
_batteryStatusWorker(bat_status.id,
voltage,
bat_status.current_battery == -1 ? qQNaN() : (double)bat_status.current_battery / 100.0,
bat_status.battery_remaining == -1 ? qQNaN() : bat_status.battery_remaining);
if (!batteryMessage.isEmpty()) {
QString batteryIdStr("%1");
if (_batteryFactGroupListModel.count() > 1) {
batteryIdStr = batteryIdStr.arg(batteryStatus.id);
} else {
batteryIdStr = batteryIdStr.arg("");
}
_say(tr("warning"));
_say(QStringLiteral("%1 %2 ").arg(_vehicleIdSpeech()).arg(batteryMessage.arg(batteryIdStr)));
}
}
......@@ -1777,7 +1756,7 @@ void Vehicle::_updateArmed(bool armed)
_flightTimerStart();
_clearCameraTriggerPoints();
// Reset battery warning
_lastAnnouncedLowBatteryPercent = 100;
_lowestBatteryChargeStateAnnouncedMap.clear();
} else {
_trajectoryPoints->stop();
_flightTimerStop();
......@@ -4401,51 +4380,6 @@ void Vehicle::sendJoystickDataThreadSafe(float roll, float pitch, float yaw, flo
sendMessageOnLinkThreadSafe(priorityLink(), message);
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
const char* VehicleBatteryFactGroup::_voltageFactName = "voltage";
const char* VehicleBatteryFactGroup::_percentRemainingFactName = "percentRemaining";
const char* VehicleBatteryFactGroup::_mahConsumedFactName = "mahConsumed";
const char* VehicleBatteryFactGroup::_currentFactName = "current";
const char* VehicleBatteryFactGroup::_temperatureFactName = "temperature";
const char* VehicleBatteryFactGroup::_instantPowerFactName = "instantPower";
const char* VehicleBatteryFactGroup::_timeRemainingFactName = "timeRemaining";
const char* VehicleBatteryFactGroup::_chargeStateFactName = "chargeState";
const char* VehicleBatteryFactGroup::_settingsGroup = "Vehicle.battery";
VehicleBatteryFactGroup::VehicleBatteryFactGroup(QObject* parent)
: FactGroup(1000, ":/json/Vehicle/BatteryFact.json", parent)
, _voltageFact (0, _voltageFactName, FactMetaData::valueTypeDouble)
, _percentRemainingFact (0, _percentRemainingFactName, FactMetaData::valueTypeDouble)
, _mahConsumedFact (0, _mahConsumedFactName, FactMetaData::valueTypeDouble)
, _currentFact (0, _currentFactName, FactMetaData::valueTypeDouble)
, _temperatureFact (0, _temperatureFactName, FactMetaData::valueTypeDouble)
, _instantPowerFact (0, _instantPowerFactName, FactMetaData::valueTypeDouble)
, _timeRemainingFact (0, _timeRemainingFactName, FactMetaData::valueTypeDouble)
, _chargeStateFact (0, _chargeStateFactName, FactMetaData::valueTypeUint8)
{
_addFact(&_voltageFact, _voltageFactName);
_addFact(&_percentRemainingFact, _percentRemainingFactName);
_addFact(&_mahConsumedFact, _mahConsumedFactName);
_addFact(&_currentFact, _currentFactName);
_addFact(&_temperatureFact, _temperatureFactName);
_addFact(&_instantPowerFact, _instantPowerFactName);
_addFact(&_timeRemainingFact, _timeRemainingFactName);
_addFact(&_chargeStateFact, _chargeStateFactName);
// Start out as not available
_voltageFact.setRawValue (qQNaN());
_percentRemainingFact.setRawValue (qQNaN());
_mahConsumedFact.setRawValue (qQNaN());
_currentFact.setRawValue (qQNaN());
_temperatureFact.setRawValue (qQNaN());
_instantPowerFact.setRawValue (qQNaN());
_timeRemainingFact.setRawValue (qQNaN());
_chargeStateFact.setRawValue (MAV_BATTERY_CHARGE_STATE_UNDEFINED);
}
const char* VehicleWindFactGroup::_directionFactName = "direction";
const char* VehicleWindFactGroup::_speedFactName = "speed";
const char* VehicleWindFactGroup::_verticalSpeedFactName = "verticalSpeed";
......
src/Vehicle/Vehicle.h
View file @ e5de3fdb
......@@ -47,6 +47,7 @@ class TerrainProtocolHandler;
class ComponentInformationManager;
class FTPManager;
class InitialConnectStateMachine;
class VehicleBatteryFactGroup;
#if defined(QGC_AIRMAP_ENABLED)
class AirspaceVehicleManager;
......@@ -257,53 +258,6 @@ private:
Fact _lockFact;
};
class VehicleBatteryFactGroup : public FactGroup
{
Q_OBJECT
public:
VehicleBatteryFactGroup(QObject* parent = nullptr);
Q_PROPERTY(Fact* voltage READ voltage CONSTANT)
Q_PROPERTY(Fact* percentRemaining READ percentRemaining CONSTANT)
Q_PROPERTY(Fact* mahConsumed READ mahConsumed CONSTANT)
Q_PROPERTY(Fact* current READ current CONSTANT)
Q_PROPERTY(Fact* temperature READ temperature CONSTANT)
Q_PROPERTY(Fact* instantPower READ instantPower CONSTANT)
Q_PROPERTY(Fact* timeRemaining READ timeRemaining CONSTANT)
Q_PROPERTY(Fact* chargeState READ chargeState CONSTANT)
Fact* voltage () { return &_voltageFact; }
Fact* percentRemaining () { return &_percentRemainingFact; }
Fact* mahConsumed () { return &_mahConsumedFact; }
Fact* current () { return &_currentFact; }
Fact* temperature () { return &_temperatureFact; }
Fact* instantPower () { return &_instantPowerFact; }
Fact* timeRemaining () { return &_timeRemainingFact; }
Fact* chargeState () { return &_chargeStateFact; }
static const char* _voltageFactName;
static const char* _percentRemainingFactName;
static const char* _mahConsumedFactName;
static const char* _currentFactName;
static const char* _temperatureFactName;
static const char* _instantPowerFactName;
static const char* _timeRemainingFactName;
static const char* _chargeStateFactName;
static const char* _settingsGroup;
private:
Fact _voltageFact;
Fact _percentRemainingFact;
Fact _mahConsumedFact;
Fact _currentFact;
Fact _temperatureFact;
Fact _instantPowerFact;
Fact _timeRemainingFact;
Fact _chargeStateFact;
};
class VehicleTemperatureFactGroup : public FactGroup
{
Q_OBJECT
......@@ -693,8 +647,6 @@ public:
Q_PROPERTY(Fact* throttlePct READ throttlePct CONSTANT)
Q_PROPERTY(FactGroup* gps READ gpsFactGroup CONSTANT)
Q_PROPERTY(FactGroup* battery READ battery1FactGroup CONSTANT)
Q_PROPERTY(FactGroup* battery2 READ battery2FactGroup CONSTANT)
Q_PROPERTY(FactGroup* wind READ windFactGroup CONSTANT)
Q_PROPERTY(FactGroup* vibration READ vibrationFactGroup CONSTANT)
Q_PROPERTY(FactGroup* temperature READ temperatureFactGroup CONSTANT)
......@@ -703,6 +655,7 @@ public:
Q_PROPERTY(FactGroup* estimatorStatus READ estimatorStatusFactGroup CONSTANT)
Q_PROPERTY(FactGroup* terrain READ terrainFactGroup CONSTANT)
Q_PROPERTY(FactGroup* distanceSensors READ distanceSensorFactGroup CONSTANT)
Q_PROPERTY(QmlObjectListModel* batteries READ batteries CONSTANT)
Q_PROPERTY(int firmwareMajorVersion READ firmwareMajorVersion NOTIFY firmwareVersionChanged)
Q_PROPERTY(int firmwareMinorVersion READ firmwareMinorVersion NOTIFY firmwareVersionChanged)
......@@ -1027,8 +980,6 @@ public:
Fact* throttlePct () { return &_throttlePctFact; }
FactGroup* gpsFactGroup () { return &_gpsFactGroup; }
FactGroup* battery1FactGroup () { return &_battery1FactGroup; }
FactGroup* battery2FactGroup () { return &_battery2FactGroup; }
FactGroup* windFactGroup () { return &_windFactGroup; }
FactGroup* vibrationFactGroup () { return &_vibrationFactGroup; }
FactGroup* temperatureFactGroup () { return &_temperatureFactGroup; }
......@@ -1037,6 +988,7 @@ public:
FactGroup* distanceSensorFactGroup () { return &_distanceSensorFactGroup; }
FactGroup* estimatorStatusFactGroup () { return &_estimatorStatusFactGroup; }
FactGroup* terrainFactGroup () { return &_terrainFactGroup; }
QmlObjectListModel* batteries () { return &_batteryFactGroupListModel; }
void setConnectionLostEnabled(bool connectionLostEnabled);
......@@ -1404,7 +1356,6 @@ private:
void _writeCsvLine ();
void _flightTimerStart ();
void _flightTimerStop ();
void _batteryStatusWorker (int batteryId, double voltage, double current, double batteryRemainingPct);
void _chunkedStatusTextTimeout (void);
void _chunkedStatusTextCompleted (uint8_t compId);
......@@ -1566,9 +1517,6 @@ private:
QString _gitHash;
quint64 _uid;
QElapsedTimer _lastBatteryAnnouncement;
int _lastAnnouncedLowBatteryPercent;
SharedLinkInterfacePointer _priorityLink; // We always keep a reference to the priority link to manage shutdown ordering
bool _priorityLinkCommanded;
......@@ -1653,6 +1601,8 @@ private:
void _sendMavCommandWorker(bool commandInt, bool requestMessage, bool showError, MavCmdResultHandler resultHandler, void* resultHandlerData, int compId, MAV_CMD command, MAV_FRAME frame, float param1, float param2, float param3, float param4, float param5, float param6, float param7);
QMap<uint8_t /* batteryId */, uint8_t /* MAV_BATTERY_CHARGE_STATE_OK */> _lowestBatteryChargeStateAnnouncedMap;
// FactGroup facts
Fact _rollFact;
......@@ -1677,8 +1627,6 @@ private:
Fact _throttlePctFact;
VehicleGPSFactGroup _gpsFactGroup;
VehicleBatteryFactGroup _battery1FactGroup;
VehicleBatteryFactGroup _battery2FactGroup;
VehicleWindFactGroup _windFactGroup;
VehicleVibrationFactGroup _vibrationFactGroup;
VehicleTemperatureFactGroup _temperatureFactGroup;
......@@ -1687,6 +1635,7 @@ private:
VehicleDistanceSensorFactGroup _distanceSensorFactGroup;
VehicleEstimatorStatusFactGroup _estimatorStatusFactGroup;
TerrainFactGroup _terrainFactGroup;
QmlObjectListModel _batteryFactGroupListModel;
TerrainProtocolHandler* _terrainProtocolHandler = nullptr;
......@@ -1712,8 +1661,6 @@ private:
static const char* _throttlePctFactName;
static const char* _gpsFactGroupName;
static const char* _battery1FactGroupName;
static const char* _battery2FactGroupName;
static const char* _windFactGroupName;
static const char* _vibrationFactGroupName;
static const char* _temperatureFactGroupName;
......@@ -1729,4 +1676,5 @@ private:
static const char* _joystickEnabledSettingsKey;
friend class InitialConnectStateMachine;
friend class VehicleBatteryFactGroup; // Allow VehicleBatteryFactGroup to call _addFactGroup
};
src/Vehicle/VehicleBatteryFactGroup.cc 0 → 100644
View file @ e5de3fdb
/****************************************************************************
*
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "VehicleBatteryFactGroup.h"
#include "QmlObjectListModel.h"
#include "Vehicle.h"
const char* VehicleBatteryFactGroup::_batteryFactGroupNamePrefix = "battery";
const char* VehicleBatteryFactGroup::_batteryIdFactName = "id";
const char* VehicleBatteryFactGroup::_batteryFunctionFactName = "batteryFunction";
const char* VehicleBatteryFactGroup::_batteryTypeFactName = "batteryType";
const char* VehicleBatteryFactGroup::_voltageFactName = "voltage";
const char* VehicleBatteryFactGroup::_percentRemainingFactName = "percentRemaining";
const char* VehicleBatteryFactGroup::_mahConsumedFactName = "mahConsumed";
const char* VehicleBatteryFactGroup::_currentFactName = "current";
const char* VehicleBatteryFactGroup::_temperatureFactName = "temperature";
const char* VehicleBatteryFactGroup::_instantPowerFactName = "instantPower";
const char* VehicleBatteryFactGroup::_timeRemainingFactName = "timeRemaining";
const char* VehicleBatteryFactGroup::_timeRemainingStrFactName = "timeRemainingStr";
const char* VehicleBatteryFactGroup::_chargeStateFactName = "chargeState";
const char* VehicleBatteryFactGroup::_settingsGroup = "Vehicle.battery";
VehicleBatteryFactGroup::VehicleBatteryFactGroup(uint8_t batteryId, QObject* parent)
: FactGroup (1000, ":/json/Vehicle/BatteryFact.json", parent)
, _batteryIdFact (0, _batteryIdFactName, FactMetaData::valueTypeUint8)
, _batteryFunctionFact (0, _batteryFunctionFactName, FactMetaData::valueTypeUint8)
, _batteryTypeFact (0, _batteryTypeFactName, FactMetaData::valueTypeUint8)
, _voltageFact (0, _voltageFactName, FactMetaData::valueTypeDouble)
, _currentFact (0, _currentFactName, FactMetaData::valueTypeDouble)
, _mahConsumedFact (0, _mahConsumedFactName, FactMetaData::valueTypeDouble)
, _temperatureFact (0, _temperatureFactName, FactMetaData::valueTypeDouble)
, _percentRemainingFact (0, _percentRemainingFactName, FactMetaData::valueTypeDouble)
, _timeRemainingFact (0, _timeRemainingFactName, FactMetaData::valueTypeDouble)
, _timeRemainingStrFact (0, _timeRemainingStrFactName, FactMetaData::valueTypeString)
, _chargeStateFact (0, _chargeStateFactName, FactMetaData::valueTypeUint8)
, _instantPowerFact (0, _instantPowerFactName, FactMetaData::valueTypeDouble)
{
_addFact(&_batteryIdFact, _batteryIdFactName);
_addFact(&_batteryFunctionFact, _batteryFunctionFactName);
_addFact(&_batteryTypeFact, _batteryTypeFactName);
_addFact(&_voltageFact, _voltageFactName);
_addFact(&_currentFact, _currentFactName);
_addFact(&_mahConsumedFact, _mahConsumedFactName);
_addFact(&_temperatureFact, _temperatureFactName);
_addFact(&_percentRemainingFact, _percentRemainingFactName);
_addFact(&_timeRemainingFact, _timeRemainingFactName);
_addFact(&_timeRemainingStrFact, _timeRemainingStrFactName);
_addFact(&_chargeStateFact, _chargeStateFactName);
_addFact(&_instantPowerFact, _instantPowerFactName);
_batteryIdFact.setRawValue (batteryId);
_batteryFunctionFact.setRawValue (MAV_BATTERY_FUNCTION_UNKNOWN);
_batteryTypeFact.setRawValue (MAV_BATTERY_TYPE_UNKNOWN);
_voltageFact.setRawValue (qQNaN());
_currentFact.setRawValue (qQNaN());
_mahConsumedFact.setRawValue (qQNaN());
_temperatureFact.setRawValue (qQNaN());
_percentRemainingFact.setRawValue (qQNaN());
_timeRemainingFact.setRawValue (qQNaN());
_chargeStateFact.setRawValue (MAV_BATTERY_CHARGE_STATE_UNDEFINED);
_instantPowerFact.setRawValue (qQNaN());
connect(&_timeRemainingFact, &Fact::rawValueChanged, this, &VehicleBatteryFactGroup::_timeRemainingChanged);
}
void VehicleBatteryFactGroup::handleMessageForFactGroupCreation(Vehicle* vehicle, mavlink_message_t& message)
{
switch (message.msgid) {
case MAVLINK_MSG_ID_HIGH_LATENCY:
case MAVLINK_MSG_ID_HIGH_LATENCY2:
_findOrAddBatteryGroupById(vehicle, 0);
break;
case MAVLINK_MSG_ID_BATTERY_STATUS:
{
mavlink_battery_status_t batteryStatus;
mavlink_msg_battery_status_decode(&message, &batteryStatus);
_findOrAddBatteryGroupById(vehicle, batteryStatus.id);
}
break;
}
}
void VehicleBatteryFactGroup::handleMessage(Vehicle* vehicle, mavlink_message_t& message)
{
switch (message.msgid) {
case MAVLINK_MSG_ID_HIGH_LATENCY:
_handleHighLatency(vehicle, message);
break;
case MAVLINK_MSG_ID_HIGH_LATENCY2:
_handleHighLatency2(vehicle, message);
break;
case MAVLINK_MSG_ID_BATTERY_STATUS:
_handleBatteryStatus(vehicle, message);
break;
}
}
void VehicleBatteryFactGroup::_handleHighLatency(Vehicle* vehicle, mavlink_message_t& message)
{
mavlink_high_latency_t highLatency;
mavlink_msg_high_latency_decode(&message, &highLatency);
VehicleBatteryFactGroup* group = _findOrAddBatteryGroupById(vehicle, 0);
group->percentRemaining()->setRawValue(highLatency.battery_remaining == UINT8_MAX ? qQNaN() : highLatency.battery_remaining);
}
void VehicleBatteryFactGroup::_handleHighLatency2(Vehicle* vehicle, mavlink_message_t& message)
{
mavlink_high_latency2_t highLatency2;
mavlink_msg_high_latency2_decode(&message, &highLatency2);
VehicleBatteryFactGroup* group = _findOrAddBatteryGroupById(vehicle, 0);
group->percentRemaining()->setRawValue(highLatency2.battery == -1 ? qQNaN() : highLatency2.battery);
}
void VehicleBatteryFactGroup::_handleBatteryStatus(Vehicle* vehicle, mavlink_message_t& message)
{
mavlink_battery_status_t batteryStatus;
mavlink_msg_battery_status_decode(&message, &batteryStatus);
VehicleBatteryFactGroup* group = _findOrAddBatteryGroupById(vehicle, batteryStatus.id);
double totalVoltage = qQNaN();
for (int i=0; i<10; i++) {
double cellVoltage = batteryStatus.voltages[i] == UINT16_MAX ? qQNaN() : static_cast<double>(batteryStatus.voltages[i]) / 1000.0;
if (qIsNaN(cellVoltage)) {
break;
}
if (i == 0) {
totalVoltage = cellVoltage;
} else {
totalVoltage += cellVoltage;
}
}
group->function()->setRawValue (batteryStatus.battery_function);
group->type()->setRawValue (batteryStatus.type);
group->temperature()->setRawValue (batteryStatus.temperature == INT16_MAX ? qQNaN() : static_cast<double>(batteryStatus.temperature) / 100.0);
group->voltage()->setRawValue (totalVoltage);
group->current()->setRawValue (batteryStatus.current_battery == -1 ? qQNaN() : batteryStatus.current_battery);
group->mahConsumed()->setRawValue (batteryStatus.current_consumed == -1 ? qQNaN() : batteryStatus.current_consumed);
group->percentRemaining()->setRawValue (batteryStatus.battery_remaining == -1 ? qQNaN() : batteryStatus.battery_remaining);
group->timeRemaining()->setRawValue (batteryStatus.time_remaining == 0 ? qQNaN() : batteryStatus.time_remaining);
group->chargeState()->setRawValue (batteryStatus.charge_state);
group->instantPower()->setRawValue (totalVoltage * group->current()->rawValue().toDouble());
}
VehicleBatteryFactGroup* VehicleBatteryFactGroup::_findOrAddBatteryGroupById(Vehicle* vehicle, uint8_t batteryId)
{
QmlObjectListModel* batteries = vehicle->batteries();
// We maintain the list in order sorted by battery id so the ui shows them sorted.
for (int i=0; i<batteries->count(); i++) {
VehicleBatteryFactGroup* group = batteries->value<VehicleBatteryFactGroup*>(i);
int listBatteryId = group->id()->rawValue().toInt();
if (listBatteryId > batteryId) {
VehicleBatteryFactGroup* newBatteryGroup = new VehicleBatteryFactGroup(batteryId, batteries);
batteries->insert(i, newBatteryGroup);
vehicle->_addFactGroup(newBatteryGroup, QStringLiteral("%1%2").arg(_batteryFactGroupNamePrefix).arg(batteryId));
return newBatteryGroup;
} else if (listBatteryId == batteryId) {
return group;
}
}
VehicleBatteryFactGroup* newBatteryGroup = new VehicleBatteryFactGroup(batteryId, batteries);
batteries->append(newBatteryGroup);
vehicle->_addFactGroup(newBatteryGroup, QStringLiteral("%1%2").arg(_batteryFactGroupNamePrefix).arg(batteryId));
return newBatteryGroup;
}
void VehicleBatteryFactGroup::_timeRemainingChanged(QVariant value)
{
if (qIsNaN(value.toDouble())) {
_timeRemainingStrFact.setRawValue("--:--:--");
} else {
int totalSeconds = value.toInt();
int hours = totalSeconds / 3600;
int minutes = (totalSeconds % 3600) / 60;
int seconds = totalSeconds % 60;
_timeRemainingStrFact.setRawValue(QString::asprintf("%02dH:%02dM:%02dS", hours, minutes, seconds));
}
}
src/Vehicle/VehicleBatteryFactGroup.h 0 → 100644
View file @ e5de3fdb
/****************************************************************************
*
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include "FactGroup.h"
#include "QGCMAVLink.h"
class Vehicle;
class VehicleBatteryFactGroup : public FactGroup
{
Q_OBJECT
public:
VehicleBatteryFactGroup(uint8_t batteryId, QObject* parent = nullptr);
Q_PROPERTY(Fact* id READ id CONSTANT)
Q_PROPERTY(Fact* function READ function CONSTANT)
Q_PROPERTY(Fact* type READ type CONSTANT)
Q_PROPERTY(Fact* temperature READ temperature CONSTANT)
Q_PROPERTY(Fact* voltage READ voltage CONSTANT)
Q_PROPERTY(Fact* current READ current CONSTANT)
Q_PROPERTY(Fact* mahConsumed READ mahConsumed CONSTANT)
Q_PROPERTY(Fact* percentRemaining READ percentRemaining CONSTANT)
Q_PROPERTY(Fact* timeRemaining READ timeRemaining CONSTANT)
Q_PROPERTY(Fact* timeRemainingStr READ timeRemainingStr CONSTANT)
Q_PROPERTY(Fact* chargeState READ chargeState CONSTANT)
Q_PROPERTY(Fact* instantPower READ instantPower CONSTANT)
Fact* id () { return &_batteryIdFact; }
Fact* function () { return &_batteryFunctionFact; }
Fact* type () { return &_batteryTypeFact; }
Fact* voltage () { return &_voltageFact; }
Fact* percentRemaining () { return &_percentRemainingFact; }
Fact* mahConsumed () { return &_mahConsumedFact; }
Fact* current () { return &_currentFact; }
Fact* temperature () { return &_temperatureFact; }
Fact* instantPower () { return &_instantPowerFact; }
Fact* timeRemaining () { return &_timeRemainingFact; }
Fact* timeRemainingStr () { return &_timeRemainingStrFact; }
Fact* chargeState () { return &_chargeStateFact; }
static const char* _batteryIdFactName;
static const char* _batteryFunctionFactName;
static const char* _batteryTypeFactName;
static const char* _temperatureFactName;
static const char* _voltageFactName;
static const char* _currentFactName;
static const char* _mahConsumedFactName;
static const char* _percentRemainingFactName;
static const char* _timeRemainingFactName;
static const char* _timeRemainingStrFactName;
static const char* _chargeStateFactName;
static const char* _instantPowerFactName;
static const char* _settingsGroup;
/// Creates a new fact group for the battery id as needed and updates the Vehicle with it
static void handleMessageForFactGroupCreation(Vehicle* vehicle, mavlink_message_t& message);
// Overrides from FactGroup
void handleMessage(Vehicle* vehicle, mavlink_message_t& message) override;
private slots:
void _timeRemainingChanged(QVariant value);
private:
static void _handleHighLatency (Vehicle* vehicle, mavlink_message_t& message);
static void _handleHighLatency2 (Vehicle* vehicle, mavlink_message_t& message);
static void _handleBatteryStatus (Vehicle* vehicle, mavlink_message_t& message);
static VehicleBatteryFactGroup* _findOrAddBatteryGroupById (Vehicle* vehicle, uint8_t batteryId);
Fact _batteryIdFact;
Fact _batteryFunctionFact;
Fact _batteryTypeFact;
Fact _voltageFact;
Fact _currentFact;
Fact _mahConsumedFact;
Fact _temperatureFact;
Fact _percentRemainingFact;
Fact _timeRemainingFact;
Fact _timeRemainingStrFact;
Fact _chargeStateFact;
Fact _instantPowerFact;
static const char* _batteryFactGroupNamePrefix;
};
src/comm/MockLink.cc
View file @ e5de3fdb
......@@ -176,6 +176,7 @@ void MockLink::_run1HzTasks(void)
_sendHighLatency2();
} else {
_sendVibration();
_sendBatteryStatus();
_sendSysStatus();
_sendADSBVehicles();
if (!qgcApp()->runningUnitTests()) {
......@@ -360,9 +361,6 @@ void MockLink::_sendHighLatency2(void)
void MockLink::_sendSysStatus(void)
{
if(_batteryRemaining > 50) {
_batteryRemaining = static_cast<int8_t>(100 - (_runningTime.elapsed() / 1000));
}
mavlink_message_t msg;
mavlink_msg_sys_status_pack_chan(
_vehicleSystemId,
......@@ -375,11 +373,87 @@ void MockLink::_sendSysStatus(void)
250, // load
4200 * 4, // voltage_battery
8000, // current_battery
_batteryRemaining, // battery_remaining
_battery1PctRemaining, // battery_remaining
0,0,0,0,0,0);
respondWithMavlinkMessage(msg);
}
void MockLink::_sendBatteryStatus(void)
{
if(_battery1PctRemaining > 1) {
_battery1PctRemaining = static_cast<int8_t>(100 - (_runningTime.elapsed() / 1000));
_battery1TimeRemaining = static_cast<double>(_batteryMaxTimeRemaining) * (static_cast<double>(_battery1PctRemaining) / 100.0);
if (_battery1PctRemaining > 50) {
_battery1ChargeState = MAV_BATTERY_CHARGE_STATE_OK;
} else if (_battery1PctRemaining > 30) {
_battery1ChargeState = MAV_BATTERY_CHARGE_STATE_LOW;
} else if (_battery1PctRemaining > 20) {
_battery1ChargeState = MAV_BATTERY_CHARGE_STATE_CRITICAL;
} else {
_battery1ChargeState = MAV_BATTERY_CHARGE_STATE_EMERGENCY;
}
}
if(_battery2PctRemaining > 1) {
_battery2PctRemaining = static_cast<int8_t>(100 - ((_runningTime.elapsed() / 1000) / 2));
_battery2TimeRemaining = static_cast<double>(_batteryMaxTimeRemaining) * (static_cast<double>(_battery2PctRemaining) / 100.0);
if (_battery2PctRemaining > 50) {
_battery2ChargeState = MAV_BATTERY_CHARGE_STATE_OK;
} else if (_battery2PctRemaining > 30) {
_battery2ChargeState = MAV_BATTERY_CHARGE_STATE_LOW;
} else if (_battery2PctRemaining > 20) {
_battery2ChargeState = MAV_BATTERY_CHARGE_STATE_CRITICAL;
} else {
_battery2ChargeState = MAV_BATTERY_CHARGE_STATE_EMERGENCY;
}
}
mavlink_message_t msg;
uint16_t rgVoltages[10];
uint16_t rgVoltagesNone[10];
for (int i=0; i<10; i++) {
rgVoltages[i] = UINT16_MAX;
rgVoltagesNone[i] = UINT16_MAX;
}
rgVoltages[0] = rgVoltages[1] = rgVoltages[2] = 4200;
mavlink_msg_battery_status_pack_chan(
_vehicleSystemId,
_vehicleComponentId,
static_cast<uint8_t>(_mavlinkChannel),
&msg,
1, // battery id
MAV_BATTERY_FUNCTION_ALL,
MAV_BATTERY_TYPE_LIPO,
2100, // temp cdegC
rgVoltages,
600, // battery cA
100, // current consumed mAh
-1, // energy consumed not supported
_battery1PctRemaining,
_battery1TimeRemaining,
_battery1ChargeState);
respondWithMavlinkMessage(msg);
mavlink_msg_battery_status_pack_chan(
_vehicleSystemId,
_vehicleComponentId,
static_cast<uint8_t>(_mavlinkChannel),
&msg,
2, // battery id
MAV_BATTERY_FUNCTION_ALL,
MAV_BATTERY_TYPE_LIPO,
INT16_MAX, // temp cdegC
rgVoltagesNone,
600, // battery cA
100, // current consumed mAh
-1, // energy consumed not supported
_battery2PctRemaining,
_battery2TimeRemaining,
_battery2ChargeState);
respondWithMavlinkMessage(msg);
}
void MockLink::_sendVibration(void)
{
mavlink_message_t msg;
......
src/comm/MockLink.h
View file @ e5de3fdb
......@@ -224,6 +224,7 @@ private:
void _sendGpsRawInt (void);
void _sendVibration (void);
void _sendSysStatus (void);
void _sendBatteryStatus (void);
void _sendStatusTextMessages (void);
void _sendChunkedStatusText (uint16_t chunkId, bool missingChunks);
void _respondWithAutopilotVersion (void);
......@@ -258,7 +259,13 @@ private:
uint8_t _mavState;
QElapsedTimer _runningTime;
int8_t _batteryRemaining = 100;
static const int32_t _batteryMaxTimeRemaining = 15 * 60;
int8_t _battery1PctRemaining = 100;
int32_t _battery1TimeRemaining = _batteryMaxTimeRemaining;
MAV_BATTERY_CHARGE_STATE _battery1ChargeState = MAV_BATTERY_CHARGE_STATE_OK;
int8_t _battery2PctRemaining = 100;
int32_t _battery2TimeRemaining = _batteryMaxTimeRemaining;
MAV_BATTERY_CHARGE_STATE _battery2ChargeState = MAV_BATTERY_CHARGE_STATE_OK;
MAV_AUTOPILOT _firmwareType;
MAV_TYPE _vehicleType;
......
src/comm/QGCMAVLink.cc
View file @ e5de3fdb
......@@ -23,6 +23,12 @@ constexpr QGCMAVLink::VehicleClass_t QGCMAVLink::VehicleClassMultiRotor;
constexpr QGCMAVLink::VehicleClass_t QGCMAVLink::VehicleClassVTOL;
constexpr QGCMAVLink::VehicleClass_t QGCMAVLink::VehicleClassGeneric;
QGCMAVLink::QGCMAVLink(QObject* parent)
: QObject(parent)
{
}
QList<QGCMAVLink::FirmwareClass_t> QGCMAVLink::allFirmwareClasses(void)
{
static const QList<QGCMAVLink::FirmwareClass_t> classes = {
......
src/comm/QGCMAVLink.h
View file @ e5de3fdb
......@@ -47,8 +47,14 @@ extern mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
#define PACKED_STRUCT( __Declaration__ ) __pragma( pack(push, 1) ) __Declaration__ __pragma( pack(pop) )
#endif
class QGCMAVLink {
class QGCMAVLink : public QObject
{
Q_OBJECT
public:
// Creating an instance of QGCMAVLink is only meant to be used for the Qml Singleton
QGCMAVLink(QObject* parent = nullptr);
typedef int FirmwareClass_t;
typedef int VehicleClass_t;
......@@ -83,6 +89,30 @@ public:
static QString mavResultToString (MAV_RESULT result);
static QString mavSysStatusSensorToString (MAV_SYS_STATUS_SENSOR sysStatusSensor);
// Expose mavlink enums to Qml. I've tried various way to make this work without duping, but haven't found anything that works.
enum MAV_BATTERY_FUNCTION {
MAV_BATTERY_FUNCTION_UNKNOWN=0, /* Battery function is unknown | */
MAV_BATTERY_FUNCTION_ALL=1, /* Battery supports all flight systems | */
MAV_BATTERY_FUNCTION_PROPULSION=2, /* Battery for the propulsion system | */
MAV_BATTERY_FUNCTION_AVIONICS=3, /* Avionics battery | */
MAV_BATTERY_TYPE_PAYLOAD=4, /* Payload battery | */
};
Q_ENUM(MAV_BATTERY_FUNCTION)
enum MAV_BATTERY_CHARGE_STATE
{
MAV_BATTERY_CHARGE_STATE_UNDEFINED=0, /* Low battery state is not provided | */
MAV_BATTERY_CHARGE_STATE_OK=1, /* Battery is not in low state. Normal operation. | */
MAV_BATTERY_CHARGE_STATE_LOW=2, /* Battery state is low, warn and monitor close. | */
MAV_BATTERY_CHARGE_STATE_CRITICAL=3, /* Battery state is critical, return or abort immediately. | */
MAV_BATTERY_CHARGE_STATE_EMERGENCY=4, /* Battery state is too low for ordinary abort sequence. Perform fastest possible emergency stop to prevent damage. | */
MAV_BATTERY_CHARGE_STATE_FAILED=5, /* Battery failed, damage unavoidable. | */
MAV_BATTERY_CHARGE_STATE_UNHEALTHY=6, /* Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. | */
MAV_BATTERY_CHARGE_STATE_CHARGING=7, /* Battery is charging. | */
};
Q_ENUM(MAV_BATTERY_CHARGE_STATE)
};
class MavlinkFTP {
......
src/ui/preferences/GeneralSettings.qml
View file @ e5de3fdb
......@@ -30,7 +30,6 @@ Rectangle {
anchors.fill: parent
anchors.margins: ScreenTools.defaultFontPixelWidth
property Fact _percentRemainingAnnounce: QGroundControl.settingsManager.appSettings.batteryPercentRemainingAnnounce
property Fact _savePath: QGroundControl.settingsManager.appSettings.savePath
property Fact _appFontPointSize: QGroundControl.settingsManager.appSettings.appFontPointSize
property Fact _userBrandImageIndoor: QGroundControl.settingsManager.brandImageSettings.userBrandImageIndoor
......@@ -623,28 +622,6 @@ Rectangle {
}
}
}
RowLayout {
visible: QGroundControl.settingsManager.appSettings.batteryPercentRemainingAnnounce.visible
QGCCheckBox {
id: announcePercentCheckbox
text: qsTr("Announce battery lower than")
checked: _percentRemainingAnnounce.value !== 0
onClicked: {
if (checked) {
_percentRemainingAnnounce.value = _percentRemainingAnnounce.defaultValueString
} else {
_percentRemainingAnnounce.value = 0
}
}
}
FactTextField {
fact: _percentRemainingAnnounce
Layout.preferredWidth: _valueFieldWidth
enabled: announcePercentCheckbox.checked
}
}
}
}
......
src/ui/toolbar/BatteryIndicator.qml
View file @ e5de3fdb
......@@ -15,6 +15,7 @@ import QGroundControl.Controls 1.0
import QGroundControl.MultiVehicleManager 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Palette 1.0
import MAVLink 1.0
//-------------------------------------------------------------------------
//-- Battery Indicator
......@@ -24,103 +25,187 @@ Item {
anchors.bottom: parent.bottom
width: batteryIndicatorRow.width
Component.onCompleted: console.log("mavlink", MAVLink.MAV_BATTERY_CHARGE_STATE_CRITICAL, MAVLink.MAV_BATTERY_FUNCTION_ALL)
property bool showIndicator: true
Row {
id: batteryIndicatorRow
anchors.top: parent.top
anchors.bottom: parent.bottom
Repeater {
model: activeVehicle ? activeVehicle.batteries : 0
Loader {
anchors.top: parent.top
anchors.bottom: parent.bottom
sourceComponent: batteryVisual
property var battery: object
}
}
}
MouseArea {
anchors.fill: parent
onClicked: {
mainWindow.showIndicatorPopup(_root, batteryPopup)
}
}
Component {
id: batteryVisual
Row {
anchors.top: parent.top
anchors.bottom: parent.bottom
function getBatteryColor() {
if(activeVehicle) {
if(activeVehicle.battery.percentRemaining.value > 75) {
switch (battery.chargeState.rawValue) {
case MAVLink.MAV_BATTERY_CHARGE_STATE_OK:
return qgcPal.text
}
if(activeVehicle.battery.percentRemaining.value > 50) {
case MAVLink.MAV_BATTERY_CHARGE_STATE_LOW:
return qgcPal.colorOrange
}
if(activeVehicle.battery.percentRemaining.value > 0.1) {
case MAVLink.MAV_BATTERY_CHARGE_STATE_CRITICAL:
case MAVLink.MAV_BATTERY_CHARGE_STATE_EMERGENCY:
case MAVLink.MAV_BATTERY_CHARGE_STATE_FAILED:
case MAVLink.MAV_BATTERY_CHARGE_STATE_UNHEALTHY:
return qgcPal.colorRed
default:
return qgcPal.text
}
}
return qgcPal.colorGrey
}
function getBatteryPercentageText() {
if(activeVehicle) {
if(activeVehicle.battery.percentRemaining.value > 98.9) {
return "100%"
if (!isNaN(battery.percentRemaining.rawValue)) {
if (battery.percentRemaining.rawValue > 98.9) {
return qsTr("100%")
} else {
return battery.percentRemaining.valueString + battery.percentRemaining.units
}
} else if (!isNaN(battery.voltage.rawValue)) {
return battery.voltage.valueString + battery.voltage.units
} else if (battery.chargeState.rawValue !== MAVLink.MAV_BATTERY_CHARGE_STATE_UNDEFINED) {
return battery.chargeState.enumStringValue
}
return ""
}
QGCColoredImage {
anchors.top: parent.top
anchors.bottom: parent.bottom
width: height
sourceSize.width: width
source: "/qmlimages/Battery.svg"
fillMode: Image.PreserveAspectFit
color: getBatteryColor()
}
QGCLabel {
text: getBatteryPercentageText()
font.pointSize: ScreenTools.mediumFontPointSize
color: getBatteryColor()
anchors.verticalCenter: parent.verticalCenter
}
if(activeVehicle.battery.percentRemaining.value > 0.1) {
return activeVehicle.battery.percentRemaining.valueString + activeVehicle.battery.percentRemaining.units
}
if(activeVehicle.battery.voltage.value >= 0) {
return activeVehicle.battery.voltage.valueString + activeVehicle.battery.voltage.units
}
Component {
id: batteryValuesAvailableComponent
QtObject {
property bool functionAvailable: battery.function.rawValue !== MAVLink.MAV_BATTERY_FUNCTION_UNKNOWN
property bool temperatureAvailable: !isNaN(battery.temperature.rawValue)
property bool currentAvailable: !isNaN(battery.current.rawValue)
property bool mahConsumedAvailable: !isNaN(battery.mahConsumed.rawValue)
property bool timeRemainingAvailable: !isNaN(battery.timeRemaining.rawValue)
property bool chargeStateAvailable: battery.chargeState.rawValue !== MAVLink.MAV_BATTERY_CHARGE_STATE_UNDEFINED
}
return "N/A"
}
Component {
id: batteryInfo
id: batteryPopup
Rectangle {
width: battCol.width + ScreenTools.defaultFontPixelWidth * 3
height: battCol.height + ScreenTools.defaultFontPixelHeight * 2
radius: ScreenTools.defaultFontPixelHeight * 0.5
width: mainLayout.width + mainLayout.anchors.margins * 2
height: mainLayout.height + mainLayout.anchors.margins * 2
radius: ScreenTools.defaultFontPixelHeight / 2
color: qgcPal.window
border.color: qgcPal.text
Column {
id: battCol
spacing: ScreenTools.defaultFontPixelHeight * 0.5
width: Math.max(battGrid.width, battLabel.width)
anchors.margins: ScreenTools.defaultFontPixelHeight
anchors.centerIn: parent
ColumnLayout {
id: mainLayout
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.top: parent.top
anchors.right: parent.right
spacing: ScreenTools.defaultFontPixelHeight
QGCLabel {
id: battLabel
Layout.alignment: Qt.AlignCenter
text: qsTr("Battery Status")
font.family: ScreenTools.demiboldFontFamily
anchors.horizontalCenter: parent.horizontalCenter
}
GridLayout {
id: battGrid
anchors.margins: ScreenTools.defaultFontPixelHeight
columnSpacing: ScreenTools.defaultFontPixelWidth
columns: 2
anchors.horizontalCenter: parent.horizontalCenter
RowLayout {
spacing: ScreenTools.defaultFontPixelWidth
ColumnLayout {
Repeater {
model: activeVehicle ? activeVehicle.batteries : 0
QGCLabel { text: qsTr("Voltage:") }
QGCLabel { text: (activeVehicle && activeVehicle.battery.voltage.value !== -1) ? (activeVehicle.battery.voltage.valueString + " " + activeVehicle.battery.voltage.units) : "N/A" }
QGCLabel { text: qsTr("Accumulated Consumption:") }
QGCLabel { text: (activeVehicle && activeVehicle.battery.mahConsumed.value !== -1) ? (activeVehicle.battery.mahConsumed.valueString + " " + activeVehicle.battery.mahConsumed.units) : "N/A" }
ColumnLayout {
spacing: 0
property var batteryValuesAvailable: nameAvailableLoader.item
Loader {
id: nameAvailableLoader
sourceComponent: batteryValuesAvailableComponent
property var battery: object
}
QGCLabel { text: qsTr("Battery %1").arg(object.id.rawValue) }
QGCLabel { text: qsTr("Charge State"); visible: batteryValuesAvailable.chargeStateAvailable }
QGCLabel { text: qsTr("Remaining"); visible: batteryValuesAvailable.timeRemainingAvailable }
QGCLabel { text: qsTr("Remaining") }
QGCLabel { text: qsTr("Voltage") }
QGCLabel { text: qsTr("Consumed"); visible: batteryValuesAvailable.mahConsumedAvailable }
QGCLabel { text: qsTr("Temperature"); visible: batteryValuesAvailable.temperatureAvailable }
QGCLabel { text: qsTr("Function"); visible: batteryValuesAvailable.functionAvailable }
}
}
}
Row {
id: batteryIndicatorRow
anchors.top: parent.top
anchors.bottom: parent.bottom
opacity: (activeVehicle && activeVehicle.battery.voltage.value >= 0) ? 1 : 0.5
QGCColoredImage {
anchors.top: parent.top
anchors.bottom: parent.bottom
width: height
sourceSize.width: width
source: "/qmlimages/Battery.svg"
fillMode: Image.PreserveAspectFit
color: qgcPal.text
ColumnLayout {
Repeater {
model: activeVehicle ? activeVehicle.batteries : 0
ColumnLayout {
spacing: 0
property var batteryValuesAvailable: valueAvailableLoader.item
Loader {
id: valueAvailableLoader
sourceComponent: batteryValuesAvailableComponent
property var battery: object
}
QGCLabel { text: "" }
QGCLabel { text: object.chargeState.enumStringValue; visible: batteryValuesAvailable.chargeStateAvailable }
QGCLabel { text: object.timeRemainingStr.value; visible: batteryValuesAvailable.timeRemainingAvailable }
QGCLabel { text: object.percentRemaining.valueString + " " + object.percentRemaining.units }
QGCLabel { text: object.voltage.valueString + " " + object.voltage.units }
QGCLabel { text: object.mahConsumed.valueString + " " + object.mahConsumed.units; visible: batteryValuesAvailable.mahConsumedAvailable }
QGCLabel { text: object.temperature.valueString + " " + object.temperature.units; visible: batteryValuesAvailable.temperatureAvailable }
QGCLabel { text: object.function.enumStringValue; visible: batteryValuesAvailable.functionAvailable }
}
}
}
QGCLabel {
text: getBatteryPercentageText()
font.pointSize: ScreenTools.mediumFontPointSize
color: getBatteryColor()
anchors.verticalCenter: parent.verticalCenter
}
}
MouseArea {
anchors.fill: parent
onClicked: {
mainWindow.showIndicatorPopup(_root, batteryInfo)
}
}
}
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