/*===================================================================== 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 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." 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: "Centering roll/pitch stick will return the multirotor to a level attitude, but it will continue drifting in the direction it was previously sent. " + "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: "Need Stablized description" readonly property string mrAcroModeDescription: "Need Acro mode description" readonly property string fwAltCtlModeName: "Attitude Control" readonly property string mrAltCtlModeName: "Altitude Control" readonly property string fwAltCtlModeDescription: "Aileron and Elevator sticks affect roll and pitch according to the Attitude Control settings. " + "Altitude is not maintained automatically. " + "Rudder is controlled fully by the pilot." 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: "Throttle controls speed, pitch controls climb/sink rate, roll controls yaw rate. " + "Roll and Pitch centered gives level, straight-line flight. " + "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. " + "When roll and pitch are centered, the multirotor will hold position. " + "Yaw controls yaw rate as in Stablized mode. " + "Throttle controls climb/sink rate. Centered throttle holds altitude steady. " + "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 in a fixed position at the current position and altitude. " + "Loiter and Mission must always be on the same channel." readonly property string returnModeName: "Return" readonly property string fwReturnModeDescription: "The aircraft returns to the home position and loiters above it." + "The settings which control this sequence can be found under Setup - Safety." readonly property string mrReturnModeDescription: "The multirotor 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: "Offboard description" readonly property real modeSpacing: ScreenTools.defaultFontPixelHeight / 3 QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled } FlightModesComponentController { id: controller factPanel: panel onModeRowsChanged: recalcModePositions() } Timer { interval: 200 running: true onTriggered: 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 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: "FLIGHT MODES CONFIG" } 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: controller.fixedWing ? fwAltCtlModeName : mrAltCtlModeName 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: controller.fixedWing ? fwReturnModeDescription : mrReturnModeDescription 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