Merge pull request #5191 from bluerobotics/sub-safety-page

Rework Sub Safety setup

src/AutoPilotPlugins/APM/APMSafetyComponentSummarySub.qml

@@ -14,14 +14,24 @@ FactPanel {
     QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
     FactPanelController { id: controller; factPanel: panel }
 
-    property Fact _failsafeGCSEnable:   controller.getParameterFact(-1, "FS_GCS_ENABLE")
-    property Fact _failsafeLeakEnable:  controller.getParameterFact(-1, "FS_LEAK_ENABLE")
+    // Enable/Action parameters
+    property Fact _failsafeBatteryEnable:     controller.getParameterFact(-1, "FS_BATT_ENABLE")
+    property Fact _failsafeEKFEnable:         controller.getParameterFact(-1, "FS_EKF_ACTION")
+    property Fact _failsafeGCSEnable:         controller.getParameterFact(-1, "FS_GCS_ENABLE")
+    property Fact _failsafeLeakEnable:        controller.getParameterFact(-1, "FS_LEAK_ENABLE")
+    property Fact _failsafePilotEnable:       controller.getParameterFact(-1, "FS_PILOT_INPUT")
+    property Fact _failsafePressureEnable:    controller.getParameterFact(-1, "FS_PRESS_ENABLE")
+    property Fact _failsafeTemperatureEnable: controller.getParameterFact(-1, "FS_TEMP_ENABLE")
 
-    property Fact _fenceAction: controller.getParameterFact(-1, "FENCE_ACTION")
-    property Fact _fenceEnable: controller.getParameterFact(-1, "FENCE_ENABLE")
-    property Fact _fenceType:   controller.getParameterFact(-1, "FENCE_TYPE")
-
-    property Fact _leakPin:     controller.getParameterFact(-1, "LEAK1_PIN")
+    // Threshold parameters
+    property Fact _failsafePressureThreshold:    controller.getParameterFact(-1, "FS_PRESS_MAX")
+    property Fact _failsafeTemperatureThreshold: controller.getParameterFact(-1, "FS_TEMP_MAX")
+    property Fact _failsafePilotTimeout:         controller.getParameterFact(-1, "FS_PILOT_TIMEOUT")
+    property Fact _failsafeLeakPin:              controller.getParameterFact(-1, "LEAK1_PIN")
+    property Fact _failsafeLeakLogic:            controller.getParameterFact(-1, "LEAK1_LOGIC")
+    property Fact _failsafeEKFThreshold:         controller.getParameterFact(-1, "FS_EKF_THRESH")
+    property Fact _failsafeBatteryVoltage:       controller.getParameterFact(-1, "FS_BATT_VOLTAGE")
+    property Fact _failsafeBatteryCapacity:      controller.getParameterFact(-1, "FS_BATT_MAH")
 
     property Fact _armingCheck: controller.getParameterFact(-1, "ARMING_CHECK")
 
@@ -32,35 +42,33 @@ FactPanel {
             labelText: qsTr("Arming Checks:")
             valueText:  _armingCheck.value & 1 ? qsTr("Enabled") : qsTr("Some disabled")
         }
-
         VehicleSummaryRow {
             labelText: qsTr("GCS failsafe:")
             valueText: _failsafeGCSEnable.enumOrValueString
         }
-
         VehicleSummaryRow {
             labelText: qsTr("Leak failsafe:")
             valueText:  _failsafeLeakEnable.enumOrValueString
         }
-
         VehicleSummaryRow {
-            labelText: qsTr("Leak detector:")
-            valueText: _leakPin.enumOrValueString
+            labelText: qsTr("Battery failsafe:")
+            valueText:  _failsafeBatteryEnable.enumOrValueString
         }
-
         VehicleSummaryRow {
-            labelText: qsTr("GeoFence:")
-            valueText: _fenceEnable.value == 0 || _fenceType == 0 ?
-                           qsTr("Disabled") :
-                           (_fenceType.value == 1 ?
-                                qsTr("Depth") :
-                                (_fenceType.value == 2 ? qsTr("Circle") : qsTr("Depth,Circle")))
+            labelText: qsTr("EKF failsafe:")
+            valueText:  _failsafeEKFEnable.enumOrValueString
+        }
+        VehicleSummaryRow {
+            labelText: qsTr("Pilot Input failsafe:")
+            valueText:  _failsafePilotEnable.enumOrValueString
+        }
+        VehicleSummaryRow {
+            labelText: qsTr("Int. Temperature failsafe:")
+            valueText:  _failsafeTemperatureEnable.enumOrValueString
         }
-
         VehicleSummaryRow {
-            labelText: qsTr("GeoFence:")
-            valueText: qsTr("Report only")
-            visible:    _fenceEnable.value != 0
+            labelText: qsTr("Int. Pressure failsafe:")
+            valueText:  _failsafePressureEnable.enumOrValueString
         }
     }
 }

src/AutoPilotPlugins/APM/APMSubFrameComponentSummary.qml

@@ -51,7 +51,7 @@ FactPanel {
 
         VehicleSummaryRow {
             labelText: qsTr("Firmware Version:")
-            valueText: activeVehicle.firmwareMajorVersion == -1 ? qsTr("Unknown") : activeVehicle.firmwareMajorVersion + "." + activeVehicle.firmwareMinorVersion + "." + activeVehicle.firmwarePatchVersion + "-" + activeVehicle.firmwareVersionTypeString
+            valueText: activeVehicle.firmwareMajorVersion == -1 ? qsTr("Unknown") : activeVehicle.firmwareMajorVersion + "." + activeVehicle.firmwareMinorVersion + "." + activeVehicle.firmwarePatchVersion + " " + activeVehicle.firmwareVersionTypeString
         }
 
         VehicleSummaryRow {