APM Copter basic tuning

qgroundcontrol.pro

@@ -557,6 +557,7 @@ HEADERS+= \
     src/AutoPilotPlugins/APM/APMSafetyComponent.h \
     src/AutoPilotPlugins/APM/APMSensorsComponent.h \
     src/AutoPilotPlugins/APM/APMSensorsComponentController.h \
+    src/AutoPilotPlugins/APM/APMTuningComponent.h \
     src/AutoPilotPlugins/Common/RadioComponentController.h \
     src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h \
     src/AutoPilotPlugins/PX4/AirframeComponent.h \
@@ -607,6 +608,7 @@ SOURCES += \
     src/AutoPilotPlugins/APM/APMSafetyComponent.cc \
     src/AutoPilotPlugins/APM/APMSensorsComponent.cc \
     src/AutoPilotPlugins/APM/APMSensorsComponentController.cc \
+    src/AutoPilotPlugins/APM/APMTuningComponent.cc \
     src/AutoPilotPlugins/Common/RadioComponentController.cc \
     src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc \
     src/AutoPilotPlugins/PX4/AirframeComponent.cc \

qgroundcontrol.qrc

@@ -113,6 +113,9 @@
         <file alias="APMSafetyComponentSummaryCopter.qml">src/AutoPilotPlugins/APM/APMSafetyComponentSummaryCopter.qml</file>
         <file alias="APMSafetyComponentSummaryPlane.qml">src/AutoPilotPlugins/APM/APMSafetyComponentSummaryPlane.qml</file>
         <file alias="APMSafetyComponentSummaryRover.qml">src/AutoPilotPlugins/APM/APMSafetyComponentSummaryRover.qml</file>
+        <file alias="APMTuningComponentCopter.qml">src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml</file>
+        <file alias="APMTuningComponentPlane.qml">src/AutoPilotPlugins/APM/APMTuningComponentPlane.qml</file>
+        <file alias="APMTuningComponentRover.qml">src/AutoPilotPlugins/APM/APMTuningComponentRover.qml</file>
         <file alias="SafetyComponent.qml">src/AutoPilotPlugins/PX4/SafetyComponent.qml</file>
         <file alias="SafetyComponentSummary.qml">src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml</file>
         <file alias="SensorsComponent.qml">src/AutoPilotPlugins/PX4/SensorsComponent.qml</file>

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -36,6 +36,7 @@ APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent)
     , _radioComponent(NULL)
     , _safetyComponent(NULL)
     , _sensorsComponent(NULL)
+    , _tuningComponent(NULL)
 {
     Q_ASSERT(vehicle);
 }
@@ -90,6 +91,14 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
             } else {
                 qWarning() << "new APMSafetyComponent failed";
             }
+
+            _tuningComponent = new APMTuningComponent(_vehicle, this);
+            if (_tuningComponent) {
+                _tuningComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_tuningComponent));
+            } else {
+                qWarning() << "new APMTuningComponent failed";
+            }
         } else {
             qWarning() << "Call to vehicleCompenents prior to parametersReady";
         }

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h

@@ -31,6 +31,7 @@
 #include "APMRadioComponent.h"
 #include "APMSafetyComponent.h"
 #include "APMSensorsComponent.h"
+#include "APMTuningComponent.h"
 
 /// This is the APM specific implementation of the AutoPilot class.
 class APMAutoPilotPlugin : public AutoPilotPlugin
@@ -49,6 +50,7 @@ public:
     APMRadioComponent*          radioComponent      (void) { return _radioComponent; }
     APMSafetyComponent*         safetyComponent     (void) { return _safetyComponent; }
     APMSensorsComponent*        sensorsComponent    (void) { return _sensorsComponent; }
+    APMTuningComponent*         tuningComponent     (void) { return _tuningComponent; }
 
 public slots:
     // FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle
@@ -63,6 +65,7 @@ private:
     APMRadioComponent*          _radioComponent;
     APMSafetyComponent*         _safetyComponent;
     APMSensorsComponent*        _sensorsComponent;
+    APMTuningComponent*         _tuningComponent;
 };
 
 #endif

src/AutoPilotPlugins/APM/APMTuningComponent.cc

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ 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 <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+#include "APMTuningComponent.h"
+#include "APMAutoPilotPlugin.h"
+
+APMTuningComponent::APMTuningComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
+    : APMComponent(vehicle, autopilot, parent)
+    , _name("Tuning")
+{
+}
+
+QString APMTuningComponent::name(void) const
+{
+    return _name;
+}
+
+QString APMTuningComponent::description(void) const
+{
+    return tr("The Tuning Component is used to tune the flight characteristics of the Vehicle.");
+}
+
+QString APMTuningComponent::iconResource(void) const
+{
+    return "/qmlimages/subMenuButtonImage.png";
+}
+
+bool APMTuningComponent::requiresSetup(void) const
+{
+    return false;
+}
+
+bool APMTuningComponent::setupComplete(void) const
+{
+    return true;
+}
+
+QStringList APMTuningComponent::setupCompleteChangedTriggerList(void) const
+{
+    return QStringList();
+}
+
+QUrl APMTuningComponent::setupSource(void) const
+{
+    QString qmlFile;
+
+    switch (_vehicle->vehicleType()) {
+        case MAV_TYPE_FIXED_WING:
+            qmlFile = "qrc:/qml/APMTuningComponentPlane.qml";
+            break;
+        case MAV_TYPE_QUADROTOR:
+        case MAV_TYPE_COAXIAL:
+        case MAV_TYPE_HELICOPTER:
+        case MAV_TYPE_HEXAROTOR:
+        case MAV_TYPE_OCTOROTOR:
+        case MAV_TYPE_TRICOPTER:
+            qmlFile = "qrc:/qml/APMTuningComponentCopter.qml";
+            break;
+        case MAV_TYPE_GROUND_ROVER:
+            qmlFile = "qrc:/qml/APMTuningComponentRover.qml";
+            break;
+        default:
+            qmlFile = "qrc:/qml/APMNotSupported.qml";
+            break;
+    }
+
+    return QUrl::fromUserInput(qmlFile);
+}
+
+QUrl APMTuningComponent::summaryQmlSource(void) const
+{
+    return QUrl();
+}
+
+QString APMTuningComponent::prerequisiteSetup(void) const
+{
+    APMAutoPilotPlugin* plugin = dynamic_cast<APMAutoPilotPlugin*>(_autopilot);
+    Q_ASSERT(plugin);
+
+    if (!plugin->airframeComponent()->setupComplete()) {
+        return plugin->airframeComponent()->name();
+    }
+
+    return QString();
+}

src/AutoPilotPlugins/APM/APMTuningComponent.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ 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 <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#ifndef APMTuningComponent_H
+#define APMTuningComponent_H
+
+#include "APMComponent.h"
+
+class APMTuningComponent : public APMComponent
+{
+    Q_OBJECT
+    
+public:
+    APMTuningComponent(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 QUrl setupSource(void) const;
+    virtual QUrl summaryQmlSource(void) const;
+    virtual QString prerequisiteSetup(void) const;
+    
+private:
+    const QString   _name;
+    QVariantList    _summaryItems;
+};
+
+#endif

src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ 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 <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+import QtQuick              2.5
+import QtQuick.Controls     1.4
+
+import QGroundControl.FactSystem    1.0
+import QGroundControl.FactControls  1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.ScreenTools   1.0
+
+QGCView {
+    id:                 _safetyView
+    viewPanel:          panel
+    anchors.fill:       parent
+
+    FactPanelController { id: controller; factPanel: panel }
+
+    QGCPalette { id: palette; colorGroupEnabled: enabled }
+
+    property Fact _throttleMid: controller.getParameterFact(-1, "THR_MID")
+    property Fact _rcFeel:      controller.getParameterFact(-1, "RC_FEEL_RP")
+    property Fact _rateRollP:   controller.getParameterFact(-1, "RATE_RLL_P")
+    property Fact _rateRollI:   controller.getParameterFact(-1, "RATE_RLL_I")
+    property Fact _ratePitchP:  controller.getParameterFact(-1, "RATE_PIT_P")
+    property Fact _ratePitchI:  controller.getParameterFact(-1, "RATE_PIT_I")
+    property Fact _rateClimbP:  controller.getParameterFact(-1, "ACCEL_Z_P")
+    property Fact _rateClimbI:  controller.getParameterFact(-1, "ACCEL_Z_I")
+
+    property real _margins: ScreenTools.defaultFontPixelHeight
+
+    property bool _loadComplete: false
+
+    ExclusiveGroup { id: fenceActionRadioGroup }
+    ExclusiveGroup { id: landLoiterRadioGroup }
+    ExclusiveGroup { id: returnAltRadioGroup }
+
+    Component.onCompleted: {
+        // Qml Sliders have a strange behavior in which they first set Slider::value to some internal
+        // setting and then set Slider::value to the bound properties value. If you have an onValueChanged
+        // handler which updates your property with the new value, this first value change will trash
+        // your bound values. In order to work around this we don't set the values into the Sliders until
+        // after Qml load is done. We also don't track value changes until Qml load completes.
+        throttleHover.value = _throttleMid.value
+        rollPitch.value = _rateRollP.value
+        climb.value = _rateClimbP.value
+        rcFeel.value = _rcFeel.value
+        _loadComplete = true
+    }
+
+    QGCViewPanel {
+        id:             panel
+        anchors.fill:   parent
+
+        Flickable {
+            clip:               true
+            anchors.fill:       parent
+            boundsBehavior:     Flickable.StopAtBounds
+            contentHeight:      basicTuning.y + basicTuning.height
+            flickableDirection: Flickable.VerticalFlick
+
+            QGCLabel {
+                id:         basicLabel
+                text:       "Basic Tuning"
+                font.weight: Font.DemiBold
+            }
+
+            Rectangle {
+                id:                 basicTuning
+                anchors.topMargin:  _margins / 2
+                anchors.left:       parent.left
+                anchors.right:      parent.right
+                anchors.top:        basicLabel.bottom
+                height:             basicTuningColumn.y + basicTuningColumn.height + _margins
+                color:              palette.windowShade
+
+                Column {
+                    id:                 basicTuningColumn
+                    anchors.margins:    _margins
+                    anchors.left:       parent.left
+                    anchors.right:      parent.right
+                    anchors.top:        parent.top
+                    spacing:            _margins
+
+                    Column {
+                        anchors.left:   parent.left
+                        anchors.right:  parent.right
+
+                        QGCLabel {
+                            text:       "Throttle Hover"
+                            font.weight: Font.DemiBold
+                        }
+
+                        QGCLabel {
+                            text: "How much throttle is needed to maintain a steady hover"
+                        }
+
+                        Slider {
+                            id:                 throttleHover
+                            anchors.left:       parent.left
+                            anchors.right:      parent.right
+                            minimumValue:       200
+                            maximumValue:       800
+                            stepSize:           10.0
+                            tickmarksEnabled:   true
+
+                            onValueChanged: {
+                                if (_loadComplete) {
+                                    _throttleMid.value = value
+                                }
+                            }
+                        }
+                    }
+
+                    Column {
+                        anchors.left:   parent.left
+                        anchors.right:  parent.right
+
+                        QGCLabel {
+                            text:       "Roll/Pitch Sensitivity"
+                            font.weight: Font.DemiBold
+                        }
+
+                        QGCLabel {
+                            text: "Slide to the right if the copter is sluggish or slide to the left if the copter is twitchy"
+                        }
+
+                        Slider {
+                            id:                 rollPitch
+                            anchors.left:       parent.left
+                            anchors.right:      parent.right
+                            minimumValue:       0.08
+                            maximumValue:       0.4
+                            stepSize:           0.01
+                            tickmarksEnabled:   true
+
+                            onValueChanged: {
+                                if (_loadComplete) {
+                                    _rateRollP.value = value
+                                    _rateRollI.value = value
+                                    _ratePitchP.value = value
+                                    _ratePitchI.value = value
+                                }
+                            }
+                        }
+                    }
+
+                    Column {
+                        anchors.left:   parent.left
+                        anchors.right:  parent.right
+
+                        QGCLabel {
+                            text:       "Climb Sensitivity"
+                            font.weight: Font.DemiBold
+                        }
+
+                        QGCLabel {
+                            text: "Slide to the right to climb more aggressively or slide to the left to climb more gently"
+                        }
+
+                        Slider {
+                            id:                 climb
+                            anchors.left:       parent.left
+                            anchors.right:      parent.right
+                            minimumValue:       0.3
+                            maximumValue:       1.0
+                            stepSize:           0.02
+                            tickmarksEnabled:   true
+                            value:              _rateClimbP.value
+
+                            onValueChanged: {
+                                if (_loadComplete) {
+                                    _rateClimbP.value = value
+                                    _rateClimbI.value = value * 2
+                                }
+                            }
+                        }
+                    }
+
+                    Column {
+                        anchors.left:   parent.left
+                        anchors.right:  parent.right
+
+                        QGCLabel {
+                            text:       "RC Roll/Pitch Feel"
+                            font.weight: Font.DemiBold
+                        }
+
+                        QGCLabel {
+                            text: "Slide to the left for soft control, slide to the right for crisp control"
+                        }
+
+                        Slider {
+                            id:                 rcFeel
+                            anchors.left:       parent.left
+                            anchors.right:      parent.right
+                            minimumValue:       0
+                            maximumValue:       100
+                            stepSize:           5.0
+                            tickmarksEnabled:   true
+
+                            onValueChanged: {
+                                if (_loadComplete) {
+                                    _rcFeel.value = value
+                                }
+                            }
+                        }
+                    }
+                }
+            } // Rectangle - Basic tuning
+        } // Flickable
+    } // QGCViewPanel
+} // QGCView

src/AutoPilotPlugins/APM/APMTuningComponentPlane.qml

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ 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 <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+import QtQuick 2.5
+
+import QGroundControl.Controls 1.0
+
+QGCLabel {
+    anchors.fill:           parent
+    text:                   "Not supported"
+    horizontalAlignment:    Text.AlignHCenter
+    verticalAlignment:      Text.AlignVCenter
+}

src/AutoPilotPlugins/APM/APMTuningComponentRover.qml

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ 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 <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+import QtQuick 2.5
+
+import QGroundControl.Controls 1.0
+
+QGCLabel {
+    anchors.fill:           parent
+    text:                   "Not supported"
+    horizontalAlignment:    Text.AlignHCenter
+    verticalAlignment:      Text.AlignVCenter
+}