/*===================================================================== QGroundControl Open Source Ground Control Station (c) 2009 - 2015 QGROUNDCONTROL PROJECT 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 . ======================================================================*/ import QtQuick 2.2 import QtQuick.Controls 1.2 import QtQuick.Controls.Styles 1.2 import QtQuick.Dialogs 1.2 import QtQuick.Layouts 1.1 import QGroundControl.FactSystem 1.0 import QGroundControl.FactControls 1.0 import QGroundControl.Palette 1.0 import QGroundControl.Controls 1.0 import QGroundControl.Controllers 1.0 import QGroundControl.ScreenTools 1.0 QGCView { id: rootQGCView viewPanel: panel readonly property int monitorThresholdCharWidth: 8 // Character width of Monitor and Threshold labels // User visible strings readonly property string title: "FLIGHT MODES CONFIG" property string topHelpText: "Assign Flight Modes to radio control channels and adjust the thresholds for triggering them. " + "You can assign multiple flight modes to a single channel. " + "Turn your radio control on to test switch settings. " + "The following channels: " + controller.reservedChannels + " are not available for Flight Modes since they are already in use for other functions." readonly property string fwManualModeName: "Manual/Main" readonly property string mrManualModeName: "Stabilized/Main" readonly property string fwManualModeDescription: "The pilot has full control of the aircraft, no assistance is provided. " + "The Main mode switch must always be assigned to a channel in order to fly" readonly property string mrManualModeDescription: "Roll and Pitch control angle of multi-rotor in respective direction. " + "Centering Roll/Pitch will return multirotor to level attitude. " + "Position is not automatically held, multi-rotor will continue drifting in the direction it was previously travelling. " + "Altitude is controlled fully by pilot using the Throttle stick. " + "The Main mode switch must always be assigned to a channel in order to fly" readonly property string assistModeName: "Assist" readonly property string assistModeDescription: "If Position Control is placed on a seperate channel from the Main mode channel, an additional 'Assist' mode is added to the Main switch. " + "In order for the Attitude Control/Position Control switch to be active, the Main switch must be in Assist mode." readonly property string autoModeName: "Auto" readonly property string autoModeDescription: "If Loiter is placed on a seperate channel from the Main mode channel, an additional 'Auto' mode is added to the Main switch. " + "In order for the Mission/Loiter switch to be active, the Main switch must be in Auto mode." readonly property string fwAcroModeName: "Stabilized" readonly property string mrAcroModeName: "Acro" readonly property string fwAcroModeDescription: "Roll and Pitch control angle of aircraft in respective direction. " + "Centering Roll/Pitch will return the aircraft to a level attitude. " + "Neither altitude nor direction is automatically controlled. " + "Both Throttle and Yaw and in full control of pilot." readonly property string mrAcroModeDescription: "Roll and Pitch control angular rate of change of multi-rotor in respective direction. " + "This allows for multi-rotor to rotate through a full 360 degrees in roll and/or pitch. " + "Centering Roll/Pitch will return the multirotor to a level attitude. " + "Position is not automatically held, multi-rotor will continue drifting in the direction it was previously travelling. " + "Altitude is under manual control of pilot using the Throttle stick." readonly property string altCtlModeName: "Altitude Control" readonly property string fwAltCtlModeDescription: "Current Altitude is maintained automatically when Pitch is centered. " + "Roll and Pitch centered gives level flight, but does not maintain straight line direction against wind. " + "Throttle controls speed, Pitch controls climb/sink rate, Roll controls turn rate. " + "Position Control and Attitude Control must always be on the same channel." readonly property string mrAltCtlModeDescription: "Same as Stablized mode except that Throttle controls climb/sink rate. Centered Throttle holds altitude steady." readonly property string posCtlModeName: "Position Control" readonly property string fwPosCtlModeDescription: "Current Altitude is maintained automatically when Pitch is centered. " + "Roll and Pitch centered gives level flight in a straight line compensating against wind. " + "Throttle controls speed, Pitch controls climb/sink rate, Roll controls turn rate. " + "Position Control and Attitude Control must always be on the same channel." readonly property string mrPosCtlModeDescription: "Roll and Pitch control left-right and front-back speed over ground respectively. " + "Centering Roll/Pitch will level and hold position. " + "Yaw controls yaw rate as in Stablized mode. " + "Centered throttle holds current altitude. " + "Throttle above/below center controls climb/sink rate. " + "Position Control and Attitude Control must always be on the same channel." readonly property string missionModeName: "Mission" readonly property string missionModeDescription: "The aircraft obeys the programmed mission sent by QGroundControl. " + "If no mission was sent, aircraft will Loiter at current position instead." readonly property string loiterModeName: "Loiter" readonly property string fwLoiterModeDescription: "The aircraft flies in a circle around the current position at the current altitude. " + "Loiter and Mission must always be on the same channel." readonly property string mrLoiterModeDescription: "The multirotor hovers at the current position and altitude. " + "Loiter and Mission must always be on the same channel." readonly property string returnModeName: "Return" readonly property string returnModeDescription: "The vehicle returns to the home position, loiters and then lands. " + "The settings which control this sequence can be found under Setup - Safety." readonly property string offboardModeName: "Offboard" readonly property string offboardModeDescription: "All flight control aspects are controlled by an offboard system." readonly property real modeSpacing: ScreenTools.defaultFontPixelHeight / 3 property Fact rcInMode: controller.getParameterFact(-1, "COM_RC_IN_MODE") QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled } FlightModesComponentController { id: controller factPanel: panel onModeRowsChanged: recalcModePositions() } Timer { interval: 200 running: true onTriggered: { if (rcInMode.value == 1) { showDialog(joystickEnabledDialogComponent, title, 50, 0) } else { recalcModePositions() } } } function recalcModePositions() { var spacing = ScreenTools.defaultFontPixelHeight / 2 var nextY = manualMode.y + manualMode.height + spacing for (var index = 0; index < 9; index++) { if (controller.assistModeRow == index) { if (controller.assistModeVisible) { assistMode.y = nextY assistMode.z = 9 - index nextY += assistMode.height + spacing } } else if (controller.autoModeRow == index) { if (controller.autoModeVisible) { autoMode.y = nextY autoMode.z = 9 - index nextY += autoMode.height + spacing } } else if (controller.acroModeRow == index) { acroMode.y = nextY acroMode.z = 9 - index nextY += acroMode.height + spacing } else if (controller.altCtlModeRow == index) { altCtlMode.y = nextY altCtlMode.z = 9 - index nextY += altCtlMode.height + spacing } else if (controller.posCtlModeRow == index) { posCtlMode.y = nextY posCtlMode.z = 9 - index nextY += posCtlMode.height + spacing } else if (controller.loiterModeRow == index) { loiterMode.y = nextY loiterMode.z = 9 - index nextY += loiterMode.height + spacing } else if (controller.missionModeRow == index) { missionMode.y = nextY missionMode.z = 9 - index nextY += missionMode.height + spacing } else if (controller.returnModeRow == index) { returnMode.y = nextY returnMode.z = 9 - index nextY += returnMode.height + spacing } else if (controller.offboardModeRow == index) { offboardMode.y = nextY offboardMode.z = 9 - index nextY += offboardMode.height + spacing } } scrollItem.height = nextY } QGCViewPanel { id: panel anchors.fill: parent Component { id: joystickEnabledDialogComponent QGCViewMessage { message: "Flight Mode Config is disabled since you have a Joystick enabled." } } ScrollView { id: scroll anchors.fill: parent horizontalScrollBarPolicy: Qt.ScrollBarAlwaysOff Item { id: scrollItem width: scroll.viewport.width QGCLabel { id: header width: parent.width font.pixelSize: ScreenTools.largeFontPixelSize text: title } Item { id: headingSpacer anchors.top: header.bottom height: 20 width: 20 } QGCLabel { anchors.top: headingSpacer.bottom anchors.left: parent.left anchors.rightMargin: ScreenTools.defaultFontPixelWidth anchors.right: applyButton.left text: topHelpText wrapMode: Text.WordWrap } QGCButton { id: applyButton anchors.top: headingSpacer.bottom anchors.rightMargin: ScreenTools.defaultFontPixelWidth anchors.right: parent.right text: "Generate Thresholds" onClicked: controller.generateThresholds() } Item { id: lastSpacer anchors.top: applyButton.bottom height: 20 width: 10 } ModeSwitchDisplay { id: manualMode anchors.top: lastSpacer.bottom flightModeName: controller.fixedWing ? fwManualModeName : mrManualModeName flightModeDescription: controller.fixedWing ? fwManualModeDescription : mrManualModeDescription rcValue: controller.manualModeRcValue modeChannelIndex: controller.manualModeChannelIndex modeChannelEnabled: true modeSelected: controller.manualModeSelected thresholdValue: controller.manualModeThreshold thresholdDragEnabled: false onModeChannelIndexChanged: controller.manualModeChannelIndex = modeChannelIndex } ModeSwitchDisplay { id: assistMode visible: controller.assistModeVisible flightModeName: assistModeName flightModeDescription: assistModeDescription rcValue: controller.assistModeRcValue modeChannelIndex: controller.assistModeChannelIndex modeChannelEnabled: false modeSelected: controller.assistModeSelected thresholdValue: controller.assistModeThreshold thresholdDragEnabled: true onThresholdValueChanged: controller.assistModeThreshold = thresholdValue Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } } } ModeSwitchDisplay { id: autoMode visible: controller.autoModeVisible flightModeName: autoModeName flightModeDescription: autoModeDescription rcValue: controller.autoModeRcValue modeChannelIndex: controller.autoModeChannelIndex modeChannelEnabled: false modeSelected: controller.autoModeSelected thresholdValue: controller.autoModeThreshold thresholdDragEnabled: true onThresholdValueChanged: controller.autoModeThreshold = thresholdValue Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } } } ModeSwitchDisplay { id: acroMode flightModeName: controller.fixedWing ? fwAcroModeName : mrAcroModeName flightModeDescription: controller.fixedWing ? fwAcroModeDescription : mrAcroModeDescription rcValue: controller.acroModeRcValue modeChannelIndex: controller.acroModeChannelIndex modeChannelEnabled: true modeSelected: controller.acroModeSelected thresholdValue: controller.acroModeThreshold thresholdDragEnabled: true onModeChannelIndexChanged: controller.acroModeChannelIndex = modeChannelIndex onThresholdValueChanged: controller.acroModeThreshold = thresholdValue Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } } } ModeSwitchDisplay { id: altCtlMode flightModeName: altCtlModeName flightModeDescription: controller.fixedWing ? fwAltCtlModeDescription : mrAltCtlModeDescription rcValue: controller.altCtlModeRcValue modeChannelIndex: controller.altCtlModeChannelIndex modeChannelEnabled: false modeSelected: controller.altCtlModeSelected thresholdValue: controller.altCtlModeThreshold thresholdDragEnabled: !controller.assistModeVisible onThresholdValueChanged: controller.altCtlModeThreshold = thresholdValue Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } } } ModeSwitchDisplay { id: posCtlMode flightModeName: posCtlModeName flightModeDescription: controller.fixedWing ? fwPosCtlModeDescription : mrPosCtlModeDescription rcValue: controller.posCtlModeRcValue modeChannelIndex: controller.posCtlModeChannelIndex modeChannelEnabled: true modeSelected: controller.posCtlModeSelected thresholdValue: controller.posCtlModeThreshold thresholdDragEnabled: true onModeChannelIndexChanged: controller.posCtlModeChannelIndex = modeChannelIndex onThresholdValueChanged: controller.posCtlModeThreshold = thresholdValue Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } } } ModeSwitchDisplay { id: missionMode flightModeName: missionModeName flightModeDescription: missionModeDescription rcValue: controller.missionModeRcValue modeChannelIndex: controller.missionModeChannelIndex modeChannelEnabled: false modeSelected: controller.missionModeSelected thresholdValue: controller.missionModeThreshold thresholdDragEnabled: !controller.autoModeVisible onThresholdValueChanged: controller.missionModeThreshold = thresholdValue Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } } } ModeSwitchDisplay { id: loiterMode flightModeName: loiterModeName flightModeDescription: controller.fixedWing ? fwLoiterModeDescription : mrLoiterModeDescription rcValue: controller.loiterModeRcValue modeChannelIndex: controller.loiterModeChannelIndex modeChannelEnabled: true modeSelected: controller.loiterModeSelected thresholdValue: controller.loiterModeThreshold thresholdDragEnabled: true onModeChannelIndexChanged: controller.loiterModeChannelIndex = modeChannelIndex onThresholdValueChanged: controller.loiterModeThreshold = thresholdValue Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } } } ModeSwitchDisplay { id: returnMode flightModeName: returnModeName flightModeDescription: returnModeDescription rcValue: controller.returnModeRcValue modeChannelIndex: controller.returnModeChannelIndex modeChannelEnabled: true modeSelected: controller.returnModeSelected thresholdValue: controller.returnModeThreshold thresholdDragEnabled: true onModeChannelIndexChanged: controller.returnModeChannelIndex = modeChannelIndex onThresholdValueChanged: controller.returnModeThreshold = thresholdValue Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } } } ModeSwitchDisplay { id: offboardMode flightModeName: offboardModeName flightModeDescription: offboardModeDescription rcValue: controller.offboardModeRcValue modeChannelIndex: controller.offboardModeChannelIndex modeChannelEnabled: true modeSelected: controller.offboardModeSelected thresholdValue: controller.offboardModeThreshold thresholdDragEnabled: true onModeChannelIndexChanged: controller.offboardModeChannelIndex = modeChannelIndex onThresholdValueChanged: controller.offboardModeThreshold = thresholdValue Behavior on y { PropertyAnimation { easing.type: Easing.InOutQuad; duration: 1000 } } } } // Item } // Scroll View } // QGCViewPanel } // QGCView