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Commit ff32b9fe authored by Tomaz Canabrava's avatar Tomaz Canabrava
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Add the initial stub for the AirFrame configuration for APM 

This commit introduces the APM Airframe configuration. The interface
is the same as the PX4 one, but the way we deal with the uas is a bit different

Since the APM stack doesn't provide a xml with airframe definitions a
new one was created by hand with only the values that we need, wich will
trigger a download of the parameters file from the mavlink github

Now it correctly handles the FRAME variable and it's faster
regarding the download of the parameters for each type of Frame.

Only show Airframes for ArduCopter, not for ArduRover nor ArduPlane
Signed-off-by: 's avatarTomaz Canabrava <tomaz.canabrava@intel.com>
parent 46604020
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Showing with 1312 additions and 206 deletions
qgcresources.qrc
View file @ ff32b9fe
......@@ -208,6 +208,9 @@
<file alias="AirframeFactMetaData.xml">src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml</file>
<file alias="ParameterFactMetaData.xml">src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml</file>
</qresource>
<qresource prefix="/AutoPilotPlugins/APM">
<file alias="AirframeFactMetaData.xml">src/AutoPilotPlugins/APM/AirframeFactMetaData.xml</file>
</qresource>
<qresource prefix="/FirmwarePlugin/APM">
<file alias="apm.pdef.xml">src/FirmwarePlugin/APM/apm.pdef.xml</file>
......
qgroundcontrol.pro
View file @ ff32b9fe
......@@ -282,7 +282,9 @@ HEADERS += \
src/uas/UASMessageHandler.h \
src/ui/toolbar/MainToolBarController.h \
src/AutoPilotPlugins/PX4/PX4AirframeLoader.h \
src/AutoPilotPlugins/APM/APMAirframeLoader.h \
src/QmlControls/QGCImageProvider.h \
src/AutoPilotPlugins/APM/APMRemoteParamsDownloader.h
DebugBuild {
HEADERS += \
......@@ -398,7 +400,9 @@ SOURCES += \
src/uas/UASMessageHandler.cc \
src/ui/toolbar/MainToolBarController.cc \
src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc \
src/AutoPilotPlugins/APM/APMAirframeLoader.cc \
src/QmlControls/QGCImageProvider.cc \
src/AutoPilotPlugins/APM/APMRemoteParamsDownloader.cc
DebugBuild {
SOURCES += \
......@@ -550,6 +554,8 @@ HEADERS+= \
src/AutoPilotPlugins/AutoPilotPluginManager.h \
src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h \
src/AutoPilotPlugins/APM/APMAirframeComponent.h \
src/AutoPilotPlugins/APM/APMAirframeComponentController.h \
src/AutoPilotPlugins/APM/APMAirframeComponentAirframes.h \
src/AutoPilotPlugins/APM/APMComponent.h \
src/AutoPilotPlugins/APM/APMRadioComponent.h \
src/AutoPilotPlugins/APM/APMFlightModesComponent.h \
......@@ -601,6 +607,7 @@ SOURCES += \
src/AutoPilotPlugins/AutoPilotPluginManager.cc \
src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc \
src/AutoPilotPlugins/APM/APMAirframeComponent.cc \
src/AutoPilotPlugins/APM/APMAirframeComponentController.cc \
src/AutoPilotPlugins/APM/APMComponent.cc \
src/AutoPilotPlugins/APM/APMRadioComponent.cc \
src/AutoPilotPlugins/APM/APMFlightModesComponent.cc \
......@@ -610,6 +617,7 @@ SOURCES += \
src/AutoPilotPlugins/APM/APMSensorsComponentController.cc \
src/AutoPilotPlugins/APM/APMTuningComponent.cc \
src/AutoPilotPlugins/Common/RadioComponentController.cc \
src/AutoPilotPlugins/APM/APMAirframeComponentAirframes.cc \
src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc \
src/AutoPilotPlugins/PX4/AirframeComponent.cc \
src/AutoPilotPlugins/PX4/AirframeComponentAirframes.cc \
......
src/AutoPilotPlugins/APM/APMAirframeComponent.cc
View file @ ff32b9fe
......@@ -57,22 +57,13 @@ bool APMAirframeComponent::requiresSetup(void) const
bool APMAirframeComponent::setupComplete(void) const
{
// You'll need to figure out which parameters trigger setup complete
#if 0
return _autopilot->getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->rawValue().toInt() != 0;
#else
return true;
#endif
//: Not the correct one, but it works for the moment.
return _autopilot->getParameterFact(FactSystem::defaultComponentId, "FRAME")->rawValue().toInt() != -1;
}
QStringList APMAirframeComponent::setupCompleteChangedTriggerList(void) const
{
// You'll need to figure out which parameters trigger setup complete
#if 0
return QStringList("SYS_AUTOSTART");
#else
return QStringList();
#endif
}
QUrl APMAirframeComponent::setupSource(void) const
......
src/AutoPilotPlugins/APM/APMAirframeComponent.qml
View file @ ff32b9fe
......@@ -21,7 +21,7 @@
======================================================================*/
import QtQuick 2.2
import QtQuick 2.5
import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.2
import QtQuick.Dialogs 1.2
......@@ -39,13 +39,214 @@ QGCView {
QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
property real _minW: ScreenTools.defaultFontPixelWidth * 30
property real _boxWidth: _minW
property real _boxSpace: ScreenTools.defaultFontPixelWidth
property Fact sysIdFact: controller.getParameterFact(-1, "FRAME")
function computeDimensions() {
var sw = 0
var rw = 0
var idx = Math.floor(scroll.width / (_minW + ScreenTools.defaultFontPixelWidth))
if(idx < 1) {
_boxWidth = scroll.width
_boxSpace = 0
} else {
_boxSpace = 0
if(idx > 1) {
_boxSpace = ScreenTools.defaultFontPixelWidth
sw = _boxSpace * (idx - 1)
}
rw = scroll.width - sw
_boxWidth = rw / idx
}
}
APMAirframeComponentController {
id: controller
factPanel: panel
}
Component {
id: applyRestartDialogComponent
QGCViewDialog {
id: applyRestartDialog
Connections {
target: controller
onCurrentAirframeTypeChanged: {
airframePicker.model = controller.currentAirframeType.airframes;
}
onCurrentAirframeChanged : {
hideDialog();
}
}
QGCLabel {
id: applyParamsText
anchors.top: parent.top
anchors.left: parent.left
anchors.right: parent.right
anchors.margins: _boxSpace
wrapMode: Text.WordWrap
text: "Select you drone to load the default parameters for it. "
}
Flow {
anchors.top : applyParamsText.bottom
anchors.left: parent.left
anchors.right: parent.right
anchors.bottom: parent.bottom
spacing : _boxSpace
layoutDirection: Qt.Vertical;
anchors.margins : _boxSpace
Repeater {
id : airframePicker
model : controller.currentAirframeType.airframes;
delegate: QGCButton {
id: btnParams
width: parent.width / 2.1
height: (ScreenTools.defaultFontPixelHeight * 14) / 5
text: controller.currentAirframeType.airframes[index].name;
onClicked : {
controller.currentAirframe = controller.currentAirframeType.airframes[index]
}
}
}
}
}
}
QGCViewPanel {
id: panel
anchors.fill: parent
QGCLabel {
text: "Work in progress";
readonly property real spacerHeight: ScreenTools.defaultFontPixelHeight
onWidthChanged: {
computeDimensions()
}
Item {
id: helpApplyRow
anchors.top: parent.top
anchors.left: parent.left
anchors.right: parent.right
height: Math.max(helpText.contentHeight, applyButton.height)
QGCLabel {
id: helpText
width: parent.width - applyButton.width - 5
text: qsTr("Please select your airframe type")
font.pixelSize: ScreenTools.mediumFontPixelSize
wrapMode: Text.WordWrap
}
QGCButton {
id: applyButton
anchors.right: parent.right
text: qsTr("Load common parameters")
onClicked: showDialog(applyRestartDialogComponent, qsTr("Load common parameters"), 50, StandardButton.Close)
}
}
Item {
id: lastSpacer
anchors.top: helpApplyRow.bottom
height: parent.spacerHeight
width: 10
}
Flickable {
id: scroll
anchors.top: lastSpacer.bottom
width: parent.width;
height: parent.height;
clip: true
boundsBehavior: Flickable.StopAtBounds
flickableDirection: Flickable.VerticalFlick
onWidthChanged: {
computeDimensions()
}
Flow {
id: flowView
width: scroll.width
spacing: _boxSpace
ExclusiveGroup {
id: airframeTypeExclusive
}
Repeater {
model: controller.airframeTypesModel
// Outer summary item rectangle
delegate : Rectangle {
id: airframeBackground
width: _boxWidth
height: ScreenTools.defaultFontPixelHeight * 14
color: qgcPal.windowShade;
readonly property real titleHeight: ScreenTools.defaultFontPixelHeight * 1.75
readonly property real innerMargin: ScreenTools.defaultFontPixelWidth
MouseArea {
anchors.fill: parent
onClicked: airframeCheckBox.checked = true;
}
Rectangle {
id: nameRect;
width: parent.width
height: parent.titleHeight
color: qgcPal.windowShadeDark
QGCLabel {
anchors.fill: parent
color: qgcPal.buttonText
verticalAlignment: TextEdit.AlignVCenter
horizontalAlignment: TextEdit.AlignHCenter
text: object.name
}
}
Image {
id: imageRect
anchors.topMargin: innerMargin
anchors.top: nameRect.bottom
width: parent.width * 0.75
height: parent.height - nameRect.height - (innerMargin * 3)
fillMode: Image.PreserveAspectFit
smooth: true
mipmap: true
source: object.imageResource
anchors.horizontalCenter: parent.horizontalCenter
}
QGCCheckBox {
id: airframeCheckBox
checked: object.type == sysIdFact.value
exclusiveGroup: airframeTypeExclusive
anchors.bottom: imageRect.bottom
anchors.right: parent.right
anchors.rightMargin: innerMargin
onCheckedChanged: {
if (checked) {
controller.currentAirframeType = object
}
airframeBackground.color = checked ? qgcPal.buttonHighlight : qgcPal.windowShade;
}
}
}
}
}
} // Scroll View - summary boxes
} // QGCViewPanel
} // QGCView
src/AutoPilotPlugins/APM/APMAirframeComponentAirframes.cc 0 → 100644
View file @ ff32b9fe
/*=====================================================================
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/>.
======================================================================*/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#include "APMAirframeComponentAirframes.h"
#include "APMAirframeComponentController.h"
QMap<QString, APMAirframeComponentAirframes::AirframeType_t*> APMAirframeComponentAirframes::rgAirframeTypes;
QMap<QString, APMAirframeComponentAirframes::AirframeType_t*>& APMAirframeComponentAirframes::get() {
return rgAirframeTypes;
}
void APMAirframeComponentAirframes::insert(const QString& group, int groupId, const QString& image,const QString& name, const QString& file)
{
AirframeType_t *g;
if (!rgAirframeTypes.contains(group)) {
g = new AirframeType_t;
g->name = group;
g->type = groupId;
g->imageResource = QString("qrc:/qmlimages/") + (!image.isEmpty() ? image : QString("AirframeStandardPlane.png"));
rgAirframeTypes.insert(group, g);
} else {
g = rgAirframeTypes.value(group);
}
if (!name.isEmpty() && !file.isEmpty())
g->rgAirframeInfo.append(new APMAirframe(name, file, g->type));
}
void APMAirframeComponentAirframes::clear() {
QList<AirframeType_t*> valueList = get().values();
foreach(AirframeType_t *pType, valueList) {
qDeleteAll(pType->rgAirframeInfo);
delete pType;
}
rgAirframeTypes.clear();
}
src/AutoPilotPlugins/APM/APMAirframeComponentAirframes.h 0 → 100644
View file @ ff32b9fe
/*=====================================================================
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/>.
======================================================================*/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#ifndef APMAirframeComponentAirframes_H
#define APMAirframeComponentAirframes_H
#include <QObject>
#include <QQuickItem>
#include <QList>
#include <QMap>
#include "UASInterface.h"
#include "AutoPilotPlugin.h"
class APMAirframe;
/// MVC Controller for AirframeComponent.qml.
class APMAirframeComponentAirframes
{
public:
typedef struct {
QString name;
QString imageResource;
int type;
QList<APMAirframe*> rgAirframeInfo;
} AirframeType_t;
typedef QMap<QString, AirframeType_t*> AirframeTypeMap;
static AirframeTypeMap& get();
static void clear();
static void insert(const QString& group, int groupId, const QString& image,const QString& name = QString(), const QString& file = QString());
protected:
static AirframeTypeMap rgAirframeTypes;
private:
};
#endif
src/AutoPilotPlugins/APM/APMAirframeComponentController.cc 0 → 100644
View file @ ff32b9fe
/*=====================================================================
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/>.
======================================================================*/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#include "APMAirframeComponentController.h"
#include "APMAirframeComponentAirframes.h"
#include "APMRemoteParamsDownloader.h"
#include "QGCMAVLink.h"
#include "MultiVehicleManager.h"
#include "AutoPilotPluginManager.h"
#include "QGCApplication.h"
#include <QVariant>
#include <QQmlProperty>
bool APMAirframeComponentController::_typesRegistered = false;
APMAirframeComponentController::APMAirframeComponentController(void) :
_airframeTypesModel(new QmlObjectListModel(this))
{
if (!_typesRegistered) {
_typesRegistered = true;
qmlRegisterUncreatableType<APMAirframeType>("QGroundControl.Controllers", 1, 0, "APMAiframeType", "Can only reference APMAirframeType");
qmlRegisterUncreatableType<APMAirframe>("QGroundControl.Controllers", 1, 0, "APMAiframe", "Can only reference APMAirframe");
}
_fillAirFrames();
Fact *frame = getParameterFact(FactSystem::defaultComponentId, "FRAME");
connect(frame, &Fact::vehicleUpdated, this, &APMAirframeComponentController::_factFrameChanged);
_factFrameChanged(frame->rawValue());
}
APMAirframeComponentController::~APMAirframeComponentController()
{
}
void APMAirframeComponentController::_factFrameChanged(QVariant value)
{
FrameId v = (FrameId) value.toInt();
for(int i = 0, size = _airframeTypesModel->count(); i < size; i++ ) {
APMAirframeType *airframeType = qobject_cast<APMAirframeType*>(_airframeTypesModel->get(i));
Q_ASSERT(airframeType);
if (airframeType->type() == v) {
_currentAirframeType = airframeType;
break;
}
}
emit currentAirframeTypeChanged(_currentAirframeType);
}
void APMAirframeComponentController::_fillAirFrames()
{
for (int tindex = 0; tindex < APMAirframeComponentAirframes::get().count(); tindex++) {
const APMAirframeComponentAirframes::AirframeType_t* pType = APMAirframeComponentAirframes::get().values().at(tindex);
APMAirframeType* airframeType = new APMAirframeType(pType->name, pType->imageResource, pType->type, this);
Q_CHECK_PTR(airframeType);
for (int index = 0; index < pType->rgAirframeInfo.count(); index++) {
const APMAirframe* pInfo = pType->rgAirframeInfo.at(index);
Q_CHECK_PTR(pInfo);
airframeType->addAirframe(pInfo->name(), pInfo->params(), pInfo->type());
}
_airframeTypesModel->append(airframeType);
}
emit loadAirframesCompleted();
}
void APMAirframeComponentController::_finishVehicleSetup() {
QDir dataLocation = QStandardPaths::standardLocations(QStandardPaths::AppDataLocation).at(0)
+ QDir::separator() + qApp->applicationName();
QFile parametersFile(dataLocation.absoluteFilePath(_currentAirframe->params()));
parametersFile.open(QIODevice::ReadOnly);
QTextStream reader(&parametersFile);
while (!reader.atEnd()) {
QString line = reader.readLine().trimmed();
if (line.isEmpty() || line.at(0) == QChar('#')) {
continue;
}
QStringList aux = line.split(',');
if (parameterExists(-1, aux.at(0))) {
Fact *param = getParameterFact(-1, aux.at(0));
param->setRawValue(QVariant::fromValue(aux.at(1)));
}
}
qgcApp()->setOverrideCursor(Qt::ArrowCursor);
sender()->deleteLater();
emit currentAirframeChanged(_currentAirframe);
}
APMAirframeType::APMAirframeType(const QString& name, const QString& imageResource, int type, QObject* parent) :
QObject(parent),
_name(name),
_imageResource(imageResource),
_type(type),
_dirty(false)
{
}
APMAirframeType::~APMAirframeType()
{
}
void APMAirframeType::addAirframe(const QString& name, const QString& file, int type)
{
APMAirframe* airframe = new APMAirframe(name, file, type);
Q_CHECK_PTR(airframe);
_airframes.append(QVariant::fromValue(airframe));
}
APMAirframe::APMAirframe(const QString& name, const QString& paramsFile, int type, QObject* parent) :
QObject(parent),
_name(name),
_paramsFile(paramsFile),
_type(type)
{
}
QString APMAirframe::name() const
{
return _name;
}
QString APMAirframe::params() const
{
return _paramsFile;
}
int APMAirframe::type() const
{
return _type;
}
APMAirframe::~APMAirframe()
{
}
QString APMAirframeType::imageResource() const
{
return _imageResource;
}
QString APMAirframeType::name() const
{
return _name;
}
int APMAirframeType::type() const
{
return _type;
}
APMAirframeType *APMAirframeComponentController::currentAirframeType() const
{
return _currentAirframeType;
}
APMAirframe *APMAirframeComponentController::currentAirframe() const
{
return _currentAirframe;
}
void APMAirframeComponentController::setCurrentAirframe(APMAirframe *t)
{
_currentAirframe = t;
qgcApp()->setOverrideCursor(Qt::WaitCursor);
APMRemoteParamsDownloader *paramDownloader = new APMRemoteParamsDownloader(_currentAirframe->params());
connect(paramDownloader, &APMRemoteParamsDownloader::finished, this, &APMAirframeComponentController::_finishVehicleSetup);
}
void APMAirframeComponentController::setCurrentAirframeType(APMAirframeType *t)
{
Fact *param = getParameterFact(-1, "FRAME");
Q_ASSERT(param);
param->setRawValue(t->type());
}
src/AutoPilotPlugins/APM/APMAirframeComponentController.h 0 → 100644
View file @ ff32b9fe
/*=====================================================================
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/>.
======================================================================*/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#ifndef APMAirframeComponentController_H
#define APMAirframeComponentController_H
#include <QObject>
#include <QQuickItem>
#include <QList>
#include <QAbstractListModel>
#include "UASInterface.h"
#include "AutoPilotPlugin.h"
#include "FactPanelController.h"
#include "APMAirframeComponentAirframes.h"
class APMAirframeModel;
class APMAirframeType;
/// MVC Controller for APMAirframeComponent.qml.
class APMAirframeComponentController : public FactPanelController
{
Q_OBJECT
public:
enum FrameId{FRAME_TYPE_PLUS = 0,
FRAME_TYPE_X = 1,
FRAME_TYPE_V = 2,
FRAME_TYPE_H = 3,
FRAME_TYPE_NEWY6 = 10};
Q_ENUM(FrameId)
APMAirframeComponentController(void);
~APMAirframeComponentController();
Q_PROPERTY(QmlObjectListModel* airframeTypesModel MEMBER _airframeTypesModel CONSTANT)
Q_PROPERTY(APMAirframeType* currentAirframeType READ currentAirframeType WRITE setCurrentAirframeType NOTIFY currentAirframeTypeChanged)
Q_PROPERTY(APMAirframe* currentAirframe READ currentAirframe WRITE setCurrentAirframe NOTIFY currentAirframeChanged)