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Valentin Platzgummer
qgroundcontrol
Commits
fb3610d4
Commit
fb3610d4
authored
Sep 16, 2015
by
Pritam Ghanghas
Browse files
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Browse Files
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Plain Diff
Added support for flashing beta and developer versions of APM stack
parent
39a2500b
Changes
3
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Inline
Side-by-side
Showing
3 changed files
with
527 additions
and
165 deletions
+527
-165
FirmwareUpgrade.qml
src/VehicleSetup/FirmwareUpgrade.qml
+92
-58
FirmwareUpgradeController.cc
src/VehicleSetup/FirmwareUpgradeController.cc
+369
-79
FirmwareUpgradeController.h
src/VehicleSetup/FirmwareUpgradeController.h
+66
-28
No files found.
src/VehicleSetup/FirmwareUpgrade.qml
View file @
fb3610d4
...
...
@@ -139,12 +139,18 @@ QGCView {
QGCViewDialog
{
anchors.fill
:
parent
property
bool
show
Version
Selection
:
apmFlightStack
.
checked
||
advancedMode
.
checked
property
bool
show
FirmwareType
Selection
:
apmFlightStack
.
checked
||
advancedMode
.
checked
property
bool
px4Flow
:
controller
.
boardType
==
"
PX4 Flow
"
function
accept
()
{
hideDialog
()
controller
.
flash
(
firmwareVersionCombo
.
model
.
get
(
firmwareVersionCombo
.
currentIndex
).
firmwareType
)
var
stack
=
apmFlightStack
.
checked
?
FirmwareUpgradeController
.
AutoPilotStackAPM
:
FirmwareUpgradeController
.
AutoPilotStackPX4
var
firmwareType
=
firmwareVersionCombo
.
model
.
get
(
firmwareVersionCombo
.
currentIndex
).
firmwareType
var
vehicleType
=
FirmwareUpgradeController
.
DefaultVehicleFirmware
if
(
apmFlightStack
.
checked
)
{
vehicleType
=
vehicleTypeSelectionCombo
.
model
.
get
(
vehicleTypeSelectionCombo
.
currentIndex
).
vehicleType
}
controller
.
flash
(
stack
,
firmwareType
,
vehicleType
)
}
function
reject
()
{
...
...
@@ -157,64 +163,68 @@ QGCView {
}
ListModel
{
id
:
px4F
irmwareTypeList
id
:
f
irmwareTypeList
ListElement
{
text
:
"
Standard Version (stable)
"
;
firmwareType
:
FirmwareUpgradeController
.
PX4
StableFirmware
firmwareType
:
FirmwareUpgradeController
.
StableFirmware
}
ListElement
{
text
:
"
Beta Testing (beta)
"
;
firmwareType
:
FirmwareUpgradeController
.
PX4
BetaFirmware
firmwareType
:
FirmwareUpgradeController
.
BetaFirmware
}
ListElement
{
text
:
"
Developer Build (master)
"
;
firmwareType
:
FirmwareUpgradeController
.
PX4
DeveloperFirmware
firmwareType
:
FirmwareUpgradeController
.
DeveloperFirmware
}
ListElement
{
text
:
"
Custom firmware file...
"
;
firmwareType
:
FirmwareUpgradeController
.
PX4
CustomFirmware
firmwareType
:
FirmwareUpgradeController
.
CustomFirmware
}
}
ListModel
{
id
:
apmFirmwar
eTypeList
id
:
vehicl
eTypeList
ListElement
{
text
:
"
ArduCopter Quad
"
firmwareType
:
FirmwareUpgradeController
.
ApmArduCopterQuadFirmware
text
:
"
Default (Quad)
"
vehicleType
:
FirmwareUpgradeController
.
DefaultVehicleFirmware
}
ListElement
{
text
:
"
Quad
"
vehicleType
:
FirmwareUpgradeController
.
QuadFirmware
}
ListElement
{
text
:
"
ArduCopter
X8
"
firmwareType
:
FirmwareUpgradeController
.
ApmArduCopter
X8Firmware
text
:
"
X8
"
vehicleType
:
FirmwareUpgradeController
.
X8Firmware
}
ListElement
{
text
:
"
ArduCopter
Hexa
"
firmwareType
:
FirmwareUpgradeController
.
ApmArduCopter
HexaFirmware
text
:
"
Hexa
"
vehicleType
:
FirmwareUpgradeController
.
HexaFirmware
}
ListElement
{
text
:
"
ArduCopter
Octo
"
firmwareType
:
FirmwareUpgradeController
.
ApmArduCopter
OctoFirmware
text
:
"
Octo
"
vehicleType
:
FirmwareUpgradeController
.
OctoFirmware
}
ListElement
{
text
:
"
ArduCopter
Y
"
firmwareType
:
FirmwareUpgradeController
.
ApmArduCopter
YFirmware
text
:
"
Y
"
vehicleType
:
FirmwareUpgradeController
.
YFirmware
}
ListElement
{
text
:
"
ArduCopter
Y6
"
firmwareType
:
FirmwareUpgradeController
.
ApmArduCopter
Y6Firmware
text
:
"
Y6
"
vehicleType
:
FirmwareUpgradeController
.
Y6Firmware
}
ListElement
{
text
:
"
ArduCopter
Heli
"
firmwareType
:
FirmwareUpgradeController
.
ApmArduCopter
HeliFirmware
text
:
"
Heli
"
vehicleType
:
FirmwareUpgradeController
.
HeliFirmware
}
ListElement
{
text
:
"
Ardu
Plane
"
firmwareType
:
FirmwareUpgradeController
.
ApmArdu
PlaneFirmware
text
:
"
Plane
"
vehicleType
:
FirmwareUpgradeController
.
PlaneFirmware
}
ListElement
{
text
:
"
Rover
"
firmwareType
:
FirmwareUpgradeController
.
Apm
RoverFirmware
vehicleType
:
FirmwareUpgradeController
.
RoverFirmware
}
}
...
...
@@ -223,11 +233,11 @@ QGCView {
ListElement
{
text
:
"
Standard Version (stable)
"
;
firmwareType
:
FirmwareUpgradeController
.
PX4
StableFirmware
firmwareType
:
FirmwareUpgradeController
.
StableFirmware
}
ListElement
{
text
:
"
Custom firmware file...
"
;
firmwareType
:
FirmwareUpgradeController
.
PX4
CustomFirmware
firmwareType
:
FirmwareUpgradeController
.
CustomFirmware
}
}
...
...
@@ -252,6 +262,17 @@ QGCView {
firmwareVersionCombo
.
currentIndex
=
0
}
function
vehicleTypeChanged
(
model
)
{
vehicleTypeSelectionCombo
.
model
=
null
// All of this bizarre, setting model to null and index to 1 and then to 0 is to work around
// strangeness in the combo box implementation. This sequence of steps correctly changes the combo model
// without generating any warnings and correctly updates the combo text with the new selection.
vehicleTypeSelectionCombo
.
model
=
null
vehicleTypeSelectionCombo
.
model
=
model
vehicleTypeSelectionCombo
.
currentIndex
=
1
vehicleTypeSelectionCombo
.
currentIndex
=
0
}
QGCRadioButton
{
id
:
px4FlightStack
checked
:
true
...
...
@@ -259,7 +280,7 @@ QGCView {
text
:
"
PX4 Flight Stack (full QGC support)
"
visible
:
!
px4Flow
onClicked
:
parent
.
firmwareVersionChanged
(
px4F
irmwareTypeList
)
onClicked
:
parent
.
firmwareVersionChanged
(
f
irmwareTypeList
)
}
QGCRadioButton
{
...
...
@@ -268,42 +289,55 @@ QGCView {
text
:
"
APM Flight Stack (partial QGC support)
"
visible
:
!
px4Flow
onClicked
:
parent
.
firmwareVersionChanged
(
apmFirmwareTypeList
)
onClicked
:
{
parent
.
firmwareVersionChanged
(
firmwareTypeList
)
parent
.
vehicleTypeChanged
(
vehicleTypeList
)
}
}
QGCLabel
{
width
:
parent
.
width
wrapMode
:
Text
.
WordWrap
visible
:
show
Version
Selection
visible
:
show
FirmwareType
Selection
text
:
px4Flow
?
"
Select which version of the firmware you would like to install:
"
:
"
Select which version of the above flight stack you would like to install:
"
}
QGCComboBox
{
id
:
firmwareVersionCombo
width
:
200
visible
:
showVersionSelection
model
:
px4Flow
?
px4FlowTypeList
:
px4FirmwareTypeList
onActivated
:
{
if
(
model
.
get
(
index
).
firmwareType
==
FirmwareUpgradeController
.
PX4BetaFirmware
)
{
firmwareVersionWarningLabel
.
visible
=
true
firmwareVersionWarningLabel
.
text
=
"
WARNING: BETA FIRMWARE.
"
+
"
This firmware version is ONLY intended for beta testers.
"
+
"
Although it has received FLIGHT TESTING, it represents actively changed code.
"
+
"
Do NOT use for normal operation.
"
}
else
if
(
model
.
get
(
index
).
firmwareType
==
FirmwareUpgradeController
.
PX4DeveloperFirmware
)
{
firmwareVersionWarningLabel
.
visible
=
true
firmwareVersionWarningLabel
.
text
=
"
WARNING: CONTINUOUS BUILD FIRMWARE.
"
+
"
This firmware has NOT BEEN FLIGHT TESTED.
"
+
"
It is only intended for DEVELOPERS.
"
+
"
Run bench tests without props first.
"
+
"
Do NOT fly this without addional safety precautions.
"
+
"
Follow the mailing list actively when using it.
"
}
else
{
firmwareVersionWarningLabel
.
visible
=
false
Row
{
spacing
:
10
QGCComboBox
{
id
:
firmwareVersionCombo
width
:
200
visible
:
showFirmwareTypeSelection
model
:
px4Flow
?
px4FlowTypeList
:
firmwareTypeList
onActivated
:
{
if
(
model
.
get
(
index
).
firmwareType
==
FirmwareUpgradeController
.
PX4BetaFirmware
||
FirmwareUpgradeController
.
APMBetaFirmware
)
{
firmwareVersionWarningLabel
.
visible
=
true
firmwareVersionWarningLabel
.
text
=
"
WARNING: BETA FIRMWARE.
"
+
"
This firmware version is ONLY intended for beta testers.
"
+
"
Although it has received FLIGHT TESTING, it represents actively changed code.
"
+
"
Do NOT use for normal operation.
"
}
else
if
(
model
.
get
(
index
).
firmwareType
==
FirmwareUpgradeController
.
PX4DeveloperFirmware
||
FirmwareUpgradeController
.
APMDeveloperFirmware
)
{
firmwareVersionWarningLabel
.
visible
=
true
firmwareVersionWarningLabel
.
text
=
"
WARNING: CONTINUOUS BUILD FIRMWARE.
"
+
"
This firmware has NOT BEEN FLIGHT TESTED.
"
+
"
It is only intended for DEVELOPERS.
"
+
"
Run bench tests without props first.
"
+
"
Do NOT fly this without addional safety precautions.
"
+
"
Follow the mailing list actively when using it.
"
}
else
{
firmwareVersionWarningLabel
.
visible
=
false
}
}
}
}
}
QGCComboBox
{
id
:
vehicleTypeSelectionCombo
width
:
200
visible
:
apmFlightStack
.
checked
model
:
vehicleTypeList
}
}
QGCLabel
{
id
:
firmwareVersionWarningLabel
...
...
@@ -311,8 +345,8 @@ QGCView {
wrapMode
:
Text
.
WordWrap
visible
:
false
}
}
}
QGCCheckBox
{
id
:
advancedMode
anchors.bottom
:
parent
.
bottom
...
...
src/VehicleSetup/FirmwareUpgradeController.cc
View file @
fb3610d4
...
...
@@ -30,6 +30,13 @@
#include "QGCFileDialog.h"
#include "QGCMessageBox.h"
uint
qHash
(
const
FirmwareUpgradeController
::
FirmwareIdentifier
&
firmwareIDTrinity
)
{
return
(
firmwareIDTrinity
.
autopilotStackType
|
(
firmwareIDTrinity
.
firmwareType
<<
8
)
|
(
firmwareIDTrinity
.
firmwareVehicleType
<<
16
)
);
}
/// @Brief Constructs a new FirmwareUpgradeController Widget. This widget is used within the PX4VehicleConfig set of screens.
FirmwareUpgradeController
::
FirmwareUpgradeController
(
void
)
:
_downloadManager
(
NULL
),
...
...
@@ -65,17 +72,25 @@ void FirmwareUpgradeController::startBoardSearch(void)
_threadController
->
startFindBoardLoop
();
}
void
FirmwareUpgradeController
::
flash
(
FirmwareType_t
firmwareType
)
void
FirmwareUpgradeController
::
flash
(
AutoPilotStackType_t
stackType
,
FirmwareType_t
firmwareType
,
FirmwareVehicleType_t
vehicleType
)
{
FirmwareIdentifier
firmwareId
=
FirmwareIdentifier
(
stackType
,
firmwareType
,
vehicleType
);
if
(
_bootloaderFound
)
{
_getFirmwareFile
(
firmware
Type
);
_getFirmwareFile
(
firmware
Id
);
}
else
{
// We haven't found the bootloader yet. Need to wait until then to flash
_startFlashWhenBootloaderFound
=
true
;
_startFlashWhenBootloaderFoundFirmware
Type
=
firmwareType
;
_startFlashWhenBootloaderFoundFirmware
Identity
=
firmwareId
;
}
}
void
FirmwareUpgradeController
::
flash
(
const
FirmwareIdentifier
&
firmwareId
)
{
flash
(
firmwareId
.
autopilotStackType
,
firmwareId
.
firmwareType
,
firmwareId
.
firmwareVehicleType
);
}
void
FirmwareUpgradeController
::
cancel
(
void
)
{
_eraseTimer
.
stop
();
...
...
@@ -105,10 +120,12 @@ void FirmwareUpgradeController::_foundBoard(bool firstAttempt, const QSerialPort
case
FoundBoard3drRadio
:
_foundBoardType
=
"3DR Radio"
;
if
(
!
firstAttempt
)
{
// Radio always flashes
stable
firmware, so we can start right away without
// Radio always flashes
latest
firmware, so we can start right away without
// any further user input.
_startFlashWhenBootloaderFound
=
true
;
_startFlashWhenBootloaderFoundFirmwareType
=
PX4StableFirmware
;
_startFlashWhenBootloaderFoundFirmwareIdentity
=
FirmwareIdentifier
(
PX4Radio
,
StableFirmware
,
DefaultVehicleFirmware
);
}
break
;
}
...
...
@@ -143,7 +160,7 @@ void FirmwareUpgradeController::_foundBootloader(int bootloaderVersion, int boar
_appendStatusLog
(
QString
(
" Flash size: %1"
).
arg
(
_bootloaderBoardFlashSize
));
if
(
_startFlashWhenBootloaderFound
)
{
flash
(
_startFlashWhenBootloaderFoundFirmware
Type
);
flash
(
_startFlashWhenBootloaderFoundFirmware
Identity
);
}
}
...
...
@@ -155,116 +172,389 @@ void FirmwareUpgradeController::_bootloaderSyncFailed(void)
}
/// @brief Prompts the user to select a firmware file if needed and moves the state machine to the next state.
void
FirmwareUpgradeController
::
_getFirmwareFile
(
Firmware
Type_t
firmwareType
)
void
FirmwareUpgradeController
::
_getFirmwareFile
(
Firmware
Identifier
firmwareIDTrinity
)
{
static
DownloadLocationByFirmwareType_t
rgPX4FMUV2Firmware
[]
=
{
{
PX4StableFirmware
,
"http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v2_default.px4"
},
{
PX4BetaFirmware
,
"http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v2_default.px4"
},
{
PX4DeveloperFirmware
,
"http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v2_default.px4"
},
{
ApmArduCopterQuadFirmware
,
"http://firmware.diydrones.com/Copter/stable/PX4-quad/ArduCopter-v2.px4"
},
{
ApmArduCopterX8Firmware
,
"http://firmware.diydrones.com/Copter/stable/PX4-octa-quad/ArduCopter-v2.px4"
},
{
ApmArduCopterHexaFirmware
,
"http://firmware.diydrones.com/Copter/stable/PX4-hexa/ArduCopter-v2.px4"
},
{
ApmArduCopterOctoFirmware
,
"http://firmware.diydrones.com/Copter/stable/PX4-octa/ArduCopter-v2.px4"
},
{
ApmArduCopterYFirmware
,
"http://firmware.diydrones.com/Copter/stable/PX4-tri/ArduCopter-v2.px4"
},
{
ApmArduCopterY6Firmware
,
"http://firmware.diydrones.com/Copter/stable/PX4-y6/ArduCopter-v2.px4"
},
{
ApmArduCopterHeliFirmware
,
"http://firmware.diydrones.com/Copter/stable/PX4-heli/ArduCopter-v2.px4"
},
{
ApmArduPlaneFirmware
,
"http://firmware.diydrones.com/Plane/stable/PX4/ArduPlane-v2.px4"
},
{
ApmRoverFirmware
,
"http://firmware.diydrones.com/Plane/stable/PX4/APMrover2-v2.px4"
},
};
static
const
size_t
crgPX4FMUV2Firmware
=
sizeof
(
rgPX4FMUV2Firmware
)
/
sizeof
(
rgPX4FMUV2Firmware
[
0
]);
static
const
DownloadLocationByFirmwareType_t
rgAeroCoreFirmware
[]
=
{
{
PX4StableFirmware
,
"http://gumstix-aerocore.s3.amazonaws.com/PX4/stable/aerocore_default.px4"
},
{
PX4BetaFirmware
,
"http://gumstix-aerocore.s3.amazonaws.com/PX4/beta/aerocore_default.px4"
},
{
PX4DeveloperFirmware
,
"http://gumstix-aerocore.s3.amazonaws.com/PX4/master/aerocore_default.px4"
},
{
ApmArduCopterQuadFirmware
,
"http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-quad/ArduCopter-aerocore.px4"
},
{
ApmArduCopterX8Firmware
,
"http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-octa-quad/ArduCopter-aerocore.px4"
},
{
ApmArduCopterHexaFirmware
,
"http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-hexa/ArduCopter-aerocore.px4"
},
{
ApmArduCopterOctoFirmware
,
"http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-octa/ArduCopter-aerocore.px4"
},
{
ApmArduCopterYFirmware
,
"http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-tri/ArduCopter-aerocore.px4"
},
{
ApmArduCopterY6Firmware
,
"http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-y6/ArduCopter-aerocore.px4"
},
{
ApmArduCopterHeliFirmware
,
"http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-heli/ArduCopter-aerocore.px4"
},
{
ApmArduPlaneFirmware
,
"http://gumstix-aerocore.s3.amazonaws.com/APM/Plane/stable/PX4/ArduPlane-aerocore.px4"
},
{
ApmRoverFirmware
,
"http://gumstix-aerocore.s3.amazonaws.com/APM/Plane/stable/PX4/APMrover2-aerocore.px4"
},
};
static
const
size_t
crgAeroCoreFirmware
=
sizeof
(
rgAeroCoreFirmware
)
/
sizeof
(
rgAeroCoreFirmware
[
0
]);
static
const
DownloadLocationByFirmwareType_t
rgPX4FMUV1Firmware
[]
=
{
{
PX4StableFirmware
,
"http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v1_default.px4"
},
{
PX4BetaFirmware
,
"http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v1_default.px4"
},
{
PX4DeveloperFirmware
,
"http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v1_default.px4"
},
};
static
const
size_t
crgPX4FMUV1Firmware
=
sizeof
(
rgPX4FMUV1Firmware
)
/
sizeof
(
rgPX4FMUV1Firmware
[
0
]);
static
const
DownloadLocationByFirmwareType_t
rgPX4FlowFirmware
[]
=
{
{
PX4StableFirmware
,
"http://px4-travis.s3.amazonaws.com/Flow/master/px4flow.px4"
},
};
static
const
size_t
crgPX4FlowFirmware
=
sizeof
(
rgPX4FlowFirmware
)
/
sizeof
(
rgPX4FlowFirmware
[
0
]);
static
const
DownloadLocationByFirmwareType_t
rg3DRRadioFirmware
[]
=
{
{
PX4StableFirmware
,
"http://firmware.diydrones.com/SiK/stable/radio~hm_trp.ihx"
},
};
static
const
size_t
crg3DRRadioFirmware
=
sizeof
(
rg3DRRadioFirmware
)
/
sizeof
(
rg3DRRadioFirmware
[
0
]);
static
QHash
<
FirmwareIdentifier
,
QString
>
rgPX4FMUV2Firmware
;
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackPX4
,
StableFirmware
,
DefaultVehicleFirmware
),
"http://px4-travis.s3.amazonaws.com/Firmware/stable/px4fmu-v2_default.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackPX4
,
BetaFirmware
,
DefaultVehicleFirmware
),
"http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v2_default.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackPX4
,
DeveloperFirmware
,
DefaultVehicleFirmware
),
"http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v2_default.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
StableFirmware
,
QuadFirmware
),
"http://firmware.diydrones.com/Copter/stable/PX4-quad/ArduCopter-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
StableFirmware
,
X8Firmware
),
"http://firmware.diydrones.com/Copter/stable/PX4-octa-quad/ArduCopter-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
StableFirmware
,
HexaFirmware
),
"http://firmware.diydrones.com/Copter/stable/PX4-hexa/ArduCopter-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
StableFirmware
,
OctoFirmware
),
"http://firmware.diydrones.com/Copter/stable/PX4-octa/ArduCopter-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
StableFirmware
,
YFirmware
),
"http://firmware.diydrones.com/Copter/stable/PX4-tri/ArduCopter-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
StableFirmware
,
Y6Firmware
),
"http://firmware.diydrones.com/Copter/stable/PX4-y6/ArduCopter-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
StableFirmware
,
HeliFirmware
),
"http://firmware.diydrones.com/Copter/stable/PX4-heli/ArduCopter-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
StableFirmware
,
PlaneFirmware
),
"http://firmware.diydrones.com/Plane/stable/PX4/ArduPlane-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
StableFirmware
,
RoverFirmware
),
"http://firmware.diydrones.com/Rover/stable/PX4/APMrover2-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
BetaFirmware
,
QuadFirmware
),
"http://firmware.diydrones.com/Copter/beta/PX4-quad/ArduCopter-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
BetaFirmware
,
X8Firmware
),
"http://firmware.diydrones.com/Copter/beta/PX4-octa-quad/ArduCopter-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
BetaFirmware
,
HexaFirmware
),
"http://firmware.diydrones.com/Copter/beta/PX4-hexa/ArduCopter-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
BetaFirmware
,
OctoFirmware
),
"http://firmware.diydrones.com/Copter/beta/PX4-octa/ArduCopter-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
BetaFirmware
,
YFirmware
),
"http://firmware.diydrones.com/Copter/beta/PX4-tri/ArduCopter-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
BetaFirmware
,
Y6Firmware
),
"http://firmware.diydrones.com/Copter/beta/PX4-y6/ArduCopter-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
BetaFirmware
,
HeliFirmware
),
"http://firmware.diydrones.com/Copter/beta/PX4-heli/ArduCopter-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
BetaFirmware
,
PlaneFirmware
),
"http://firmware.diydrones.com/Plane/beta/PX4/ArduPlane-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
BetaFirmware
,
RoverFirmware
),
"http://firmware.diydrones.com/Rover/beta/PX4/APMrover2-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
DeveloperFirmware
,
QuadFirmware
),
"http://firmware.diydrones.com/Copter/latest/PX4-quad/ArduCopter-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
DeveloperFirmware
,
X8Firmware
),
"http://firmware.diydrones.com/Copter/latest/PX4-octa-quad/ArduCopter-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
DeveloperFirmware
,
HexaFirmware
),
"http://firmware.diydrones.com/Copter/latest/PX4-hexa/ArduCopter-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
DeveloperFirmware
,
OctoFirmware
),
"http://firmware.diydrones.com/Copter/latest/PX4-octa/ArduCopter-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
DeveloperFirmware
,
YFirmware
),
"http://firmware.diydrones.com/Copter/latest/PX4-tri/ArduCopter-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
DeveloperFirmware
,
Y6Firmware
),
"http://firmware.diydrones.com/Copter/latest/PX4-y6/ArduCopter-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
DeveloperFirmware
,
HeliFirmware
),
"http://firmware.diydrones.com/Copter/latest/PX4-heli/ArduCopter-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
DeveloperFirmware
,
PlaneFirmware
),
"http://firmware.diydrones.com/Plane/latest/PX4/ArduPlane-v2.px4"
);
rgPX4FMUV2Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
DeveloperFirmware
,
RoverFirmware
),
"http://firmware.diydrones.com/Rover/latest/PX4/APMrover2-v2.px4"
);
//////////////////////////////////// PX4MU aerocore firmwares //////////////////////////////////////////////////
static
QHash
<
FirmwareIdentifier
,
QString
>
rgAeroCoreFirmware
;
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackPX4
,
StableFirmware
,
DefaultVehicleFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/PX4/stable/aerocore_default.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackPX4
,
BetaFirmware
,
DefaultVehicleFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/PX4/beta/aerocore_default.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackPX4
,
DeveloperFirmware
,
DefaultVehicleFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/PX4/master/aerocore_default.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
StableFirmware
,
QuadFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/APM/Copter/stable/PX4-quad/ArduCopter-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
StableFirmware
,
X8Firmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-octa-quad/ArduCopter-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
StableFirmware
,
HexaFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-hexa/ArduCopter-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
StableFirmware
,
OctoFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-octa/ArduCopter-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
StableFirmware
,
YFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-tri/ArduCopter-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
StableFirmware
,
Y6Firmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-y6/ArduCopter-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
StableFirmware
,
HeliFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-heli/ArduCopter-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
StableFirmware
,
PlaneFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Plane/stable/PX4/ArduPlane-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
StableFirmware
,
RoverFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Rover/stable/PX4/APMrover2-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
BetaFirmware
,
QuadFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Copter/beta/PX4-quad/ArduCopter-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
BetaFirmware
,
X8Firmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Copter/beta/PX4-octa-quad/ArduCopter-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
BetaFirmware
,
HexaFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Copter/beta/PX4-hexa/ArduCopter-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
BetaFirmware
,
OctoFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Copter/beta/PX4-octa/ArduCopter-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
BetaFirmware
,
YFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Copter/beta/PX4-tri/ArduCopter-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
BetaFirmware
,
Y6Firmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Copter/beta/PX4-y6/ArduCopter-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
BetaFirmware
,
HeliFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Copter/beta/PX4-heli/ArduCopter-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
BetaFirmware
,
PlaneFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Plane/beta/PX4/ArduPlane-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
BetaFirmware
,
RoverFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Rover/beta/PX4/APMrover2-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
DeveloperFirmware
,
QuadFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-quad/ArduCopter-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
DeveloperFirmware
,
X8Firmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-octa-quad/ArduCopter-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
DeveloperFirmware
,
HexaFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-hexa/ArduCopter-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
DeveloperFirmware
,
OctoFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-octa/ArduCopter-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
DeveloperFirmware
,
YFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-tri/ArduCopter-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
DeveloperFirmware
,
Y6Firmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-y6/ArduCopter-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
DeveloperFirmware
,
HeliFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-heli/ArduCopter-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
DeveloperFirmware
,
PlaneFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Plane/latest/PX4/ArduPlane-v2.px4"
);
rgAeroCoreFirmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackAPM
,
DeveloperFirmware
,
RoverFirmware
),
"http://gumstix-aerocore.s3.amazonaws.com/Rover/latest/PX4/APMrover2-v2.px4"
);
/////////////////////////////// FMUV1 firmwares ///////////////////////////////////////////
static
QHash
<
FirmwareIdentifier
,
QString
>
rgPX4FMUV1Firmware
;
rgPX4FMUV1Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackPX4
,
StableFirmware
,
DefaultVehicleFirmware
),
"http://px4-travis.s3.amazonaws.com/Firmware/latest/px4fmu-v1_default.px4"
);
rgPX4FMUV1Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackPX4
,
BetaFirmware
,
DefaultVehicleFirmware
),
"http://px4-travis.s3.amazonaws.com/Firmware/beta/px4fmu-v1_default.px4"
);
rgPX4FMUV1Firmware
.
insert
(
FirmwareIdentifier
(
AutoPilotStackPX4
,
DeveloperFirmware
,
DefaultVehicleFirmware
),
"http://px4-travis.s3.amazonaws.com/Firmware/master/px4fmu-v1_default.px4"
);
/////////////////////////////// px4flow firmwares ///////////////////////////////////////
static
QHash
<
FirmwareIdentifier
,
QString
>
rgPX4FLowFirmware
;
rgPX4FLowFirmware
.
insert
(
FirmwareIdentifier
(
PX4Flow
,
StableFirmware
,
DefaultVehicleFirmware
),
"http://px4-travis.s3.amazonaws.com/Flow/master/px4flow.px4"
);
/////////////////////////////// 3dr radio firmwares ///////////////////////////////////////
static
QHash
<
FirmwareIdentifier
,
QString
>
rg3DRRadioFirmware
;
rg3DRRadioFirmware
.
insert
(
FirmwareIdentifier
(
PX4Flow
,
StableFirmware
,
DefaultVehicleFirmware
),
"http://firmware.diydrones.com/SiK/latest/radio~hm_trp.ihx"
);
// Select the firmware set based on board type
const
DownloadLocationByFirmwareType_t
*
prgFirmware
;
size_t
crgFirmware
=
0
;
QHash
<
FirmwareIdentifier
,
QString
>
prgFirmware
;
switch
(
_bootloaderBoardID
)
{
case
Bootloader
:
:
boardIDPX4FMUV1
:
prgFirmware
=
rgPX4FMUV1Firmware
;
crgFirmware
=
crgPX4FMUV1Firmware
;
break
;
case
Bootloader
:
:
boardIDPX4Flow
:
prgFirmware
=
rgPX4FlowFirmware
;
crgFirmware
=
crgPX4FlowFirmware
;
prgFirmware
=
rgPX4FLowFirmware
;
break
;
case
Bootloader
:
:
boardIDPX4FMUV2
:
prgFirmware
=
rgPX4FMUV2Firmware
;
crgFirmware
=
crgPX4FMUV2Firmware
;
break
;
case
Bootloader
:
:
boardIDAeroCore
:
prgFirmware
=
rgAeroCoreFirmware
;
crgFirmware
=
crgAeroCoreFirmware
;
break
;
case
Bootloader
:
:
boardID3DRRadio
:
prgFirmware
=
rg3DRRadioFirmware
;
crgFirmware
=
crg3DRRadioFirmware
;
break
;
default:
prgFirmware
=
NULL
;
break
;
}
if
(
prgFirmware
==
NULL
&&
firmwareType
!=
PX4
CustomFirmware
)
{
if
(
prgFirmware
.
isEmpty
()
&&
firmwareIDTrinity
.
firmwareType
!=
CustomFirmware
)
{
_errorCancel
(
"Attempting to flash an unknown board type, you must select 'Custom firmware file'"
);
return
;
}
if
(
firmware
Type
==
PX4
CustomFirmware
)
{
if
(
firmware
IDTrinity
.
firmwareType
==
CustomFirmware
)
{
_firmwareFilename
=
QGCFileDialog
::
getOpenFileName
(
NULL
,
// Parent to main window
"Select Firmware File"
,
// Dialog Caption
QStandardPaths
::
writableLocation
(
QStandardPaths
::
DocumentsLocation
),
// Initial directory
"Firmware Files (*.px4 *.bin *.ihx)"
);
// File filter
}
else
{
bool
found
=
false
;
for
(
size_t
i
=
0
;
i
<
crgFirmware
;
i
++
)
{
if
(
prgFirmware
->
firmwareType
==
firmwareType
)
{
found
=
true
;
break
;
}
prgFirmware
++
;
}
if
(
found
)
{
_firmwareFilename
=
prgFirmware
->
downloadLocation
;
if
(
prgFirmware
.
contains
(
firmwareIDTrinity
))
{
_firmwareFilename
=
prgFirmware
.
value
(
firmwareIDTrinity
);
}
else
{
_errorCancel
(
"Unable to find specified firmware download location"
);
return
;
...
...
src/VehicleSetup/FirmwareUpgradeController.h
View file @
fb3610d4
...
...
@@ -43,33 +43,68 @@
#include <stdint.h>
/// Supported firmware types. If you modify these you will need to update the qml file as well.
// Firmware Upgrade MVC Controller for FirmwareUpgrade.qml.
class
FirmwareUpgradeController
:
public
QObject
{
Q_OBJECT
public:
typedef
enum
{
AutoPilotStackPX4
,
AutoPilotStackAPM
,
PX4Flow
,
PX4Radio
}
AutoPilotStackType_t
;
typedef
enum
{
StableFirmware
,
BetaFirmware
,
DeveloperFirmware
,
CustomFirmware
}
FirmwareType_t
;
typedef
enum
{
QuadFirmware
,
X8Firmware
,
HexaFirmware
,
OctoFirmware
,
YFirmware
,
Y6Firmware
,
HeliFirmware
,
PlaneFirmware
,
RoverFirmware
,
DefaultVehicleFirmware
=
QuadFirmware
,
}
FirmwareVehicleType_t
;
Q_ENUMS
(
AutoPilotStackType_t
)
Q_ENUMS
(
FirmwareType_t
)
Q_ENUMS
(
FirmwareVehicleType_t
)
class
FirmwareIdentifier
{
public:
FirmwareIdentifier
(
AutoPilotStackType_t
stack
=
AutoPilotStackPX4
,
FirmwareType_t
firmware
=
StableFirmware
,
FirmwareVehicleType_t
vehicle
=
DefaultVehicleFirmware
)
:
autopilotStackType
(
stack
),
firmwareType
(
firmware
),
firmwareVehicleType
(
vehicle
)
{}
bool
operator
==
(
const
FirmwareIdentifier
&
firmwareIDTrinity
)
const
{
return
(
firmwareIDTrinity
.
autopilotStackType
==
autopilotStackType
&&
firmwareIDTrinity
.
firmwareType
==
firmwareType
&&
firmwareIDTrinity
.
firmwareVehicleType
==
firmwareVehicleType
);
}
// members
AutoPilotStackType_t
autopilotStackType
;
FirmwareType_t
firmwareType
;
FirmwareVehicleType_t
firmwareVehicleType
;
};
FirmwareUpgradeController
(
void
);
/// Supported firmware types. If you modify these you will need to update the qml file as well.
typedef
enum
{
PX4StableFirmware
,
PX4BetaFirmware
,
PX4DeveloperFirmware
,
PX4CustomFirmware
,
ApmArduCopterQuadFirmware
,
ApmArduCopterX8Firmware
,
ApmArduCopterHexaFirmware
,
ApmArduCopterOctoFirmware
,
ApmArduCopterYFirmware
,
ApmArduCopterY6Firmware
,
ApmArduCopterHeliFirmware
,
ApmArduPlaneFirmware
,
ApmRoverFirmware
,
}
FirmwareType_t
;
Q_ENUMS
(
FirmwareType_t
)
Q_PROPERTY
(
QString
boardPort
READ
boardPort
NOTIFY
boardFound
)
Q_PROPERTY
(
QString
boardDescription
READ
boardDescription
NOTIFY
boardFound
)
Q_PROPERTY
(
QString
boardType
MEMBER
_foundBoardType
NOTIFY
boardFound
)
...
...
@@ -90,8 +125,13 @@ public:
Q_INVOKABLE
void
cancel
(
void
);
/// Called when the firmware type has been selected by the user to continue the flash process.
Q_INVOKABLE
void
flash
(
FirmwareType_t
firmwareType
);
Q_INVOKABLE
void
flash
(
AutoPilotStackType_t
stackType
,
FirmwareType_t
firmwareType
=
StableFirmware
,
FirmwareVehicleType_t
vehicleType
=
DefaultVehicleFirmware
);
// overload, not exposed to qml side
void
flash
(
const
FirmwareIdentifier
&
firmwareId
);
// Property accessors
QQuickItem
*
progressBar
(
void
)
{
return
_progressBar
;
}
...
...
@@ -133,16 +173,11 @@ private slots:
void
_linkDisconnected
(
LinkInterface
*
link
);
private:
void
_getFirmwareFile
(
Firmware
Type_t
firmwareType
);
void
_getFirmwareFile
(
Firmware
Identifier
firmwareIDTrinity
);
void
_downloadFirmware
(
void
);
void
_appendStatusLog
(
const
QString
&
text
,
bool
critical
=
false
);
void
_errorCancel
(
const
QString
&
msg
);
typedef
struct
{
FirmwareType_t
firmwareType
;
const
char
*
downloadLocation
;
}
DownloadLocationByFirmwareType_t
;
QString
_portName
;
QString
_portDescription
;
...
...
@@ -152,8 +187,8 @@ private:
uint32_t
_bootloaderBoardID
;
///< Board ID
uint32_t
_bootloaderBoardFlashSize
;
///< Flash size in bytes of board
bool
_startFlashWhenBootloaderFound
;
Firmware
Type_t
_startFlashWhenBootloaderFoundFirmwareType
;
bool
_startFlashWhenBootloaderFound
;
Firmware
Identifier
_startFlashWhenBootloaderFoundFirmwareIdentity
;
QPixmap
_boardIcon
;
///< Icon used to display image of board
...
...
@@ -184,4 +219,7 @@ private:
FirmwareImage
*
_image
;
};
// global hashing function
uint
qHash
(
const
FirmwareUpgradeController
::
FirmwareIdentifier
&
firmwareIDTrinity
);
#endif
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