/**************************************************************************** * * (c) 2009-2020 QGROUNDCONTROL PROJECT * * QGroundControl is licensed according to the terms in the file * COPYING.md in the root of the source code directory. * ****************************************************************************/ #include "APMFirmwarePlugin.h" #include "APMAutoPilotPlugin.h" #include "QGCMAVLink.h" #include "QGCApplication.h" #include "APMFlightModesComponentController.h" #include "APMAirframeComponentController.h" #include "APMSensorsComponentController.h" #include "APMFollowComponentController.h" #include "APMSubMotorComponentController.h" #include "MissionManager.h" #include "ParameterManager.h" #include "QGCFileDownload.h" #include "SettingsManager.h" #include "AppSettings.h" #include "APMMavlinkStreamRateSettings.h" #include "ArduPlaneFirmwarePlugin.h" #include "ArduCopterFirmwarePlugin.h" #include "ArduRoverFirmwarePlugin.h" #include "ArduSubFirmwarePlugin.h" #include QGC_LOGGING_CATEGORY(APMFirmwarePluginLog, "APMFirmwarePluginLog") static const QRegExp APM_COPTER_REXP("^(ArduCopter|APM:Copter)"); static const QRegExp APM_SOLO_REXP("^(APM:Copter solo-)"); static const QRegExp APM_PLANE_REXP("^(ArduPlane|APM:Plane)"); static const QRegExp APM_ROVER_REXP("^(ArduRover|APM:Rover)"); static const QRegExp APM_SUB_REXP("^(ArduSub|APM:Sub)"); static const QRegExp APM_PX4NUTTX_REXP("^PX4: .*NuttX: .*"); static const QRegExp APM_FRAME_REXP("^Frame: "); static const QRegExp APM_SYSID_REXP("^PX4v2 "); // Regex to parse version text coming from APM, gives out firmware type, major, minor and patch level numbers static const QRegExp VERSION_REXP("^(APM:Copter|APM:Plane|APM:Rover|APM:Sub|ArduCopter|ArduPlane|ArduRover|ArduSub) +[vV](\\d*)\\.*(\\d*)*\\.*(\\d*)*"); // minimum firmware versions that don't suffer from mavlink severity inversion bug. // https://github.com/diydrones/apm_planner/issues/788 static const QString MIN_SOLO_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Copter solo-1.2.0"); static const QString MIN_COPTER_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Copter V3.4.0"); static const QString MIN_PLANE_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Plane V3.4.0"); static const QString MIN_SUB_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Sub V3.4.0"); static const QString MIN_ROVER_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Rover V2.6.0"); const char* APMFirmwarePlugin::_artooIP = "10.1.1.1"; ///< IP address of ARTOO controller const int APMFirmwarePlugin::_artooVideoHandshakePort = 5502; ///< Port for video handshake on ARTOO controller /* * @brief APMFirmwareVersion is a small class to represent the firmware version * It encabsules vehicleType, major version, minor version and patch level version * and provides accessors for the same. * isValid() can be used, to know whether version infromation is available or not * supports < operator */ APMFirmwareVersion::APMFirmwareVersion(const QString &versionText) { _major = 0; _minor = 0; _patch = 0; _parseVersion(versionText); } bool APMFirmwareVersion::isValid() const { return !_versionString.isEmpty(); } bool APMFirmwareVersion::isBeta() const { return _versionString.contains(QStringLiteral(".rc")); } bool APMFirmwareVersion::isDev() const { return _versionString.contains(QStringLiteral(".dev")); } bool APMFirmwareVersion::operator <(const APMFirmwareVersion& other) const { int myVersion = _major << 16 | _minor << 8 | _patch ; int otherVersion = other.majorNumber() << 16 | other.minorNumber() << 8 | other.patchNumber(); return myVersion < otherVersion; } void APMFirmwareVersion::_parseVersion(const QString &versionText) { if (versionText.isEmpty()) { return; } if (VERSION_REXP.indexIn(versionText) == -1) { qCWarning(APMFirmwarePluginLog) << "firmware version regex didn't match anything" << "version text to be parsed" << versionText; return; } QStringList capturedTexts = VERSION_REXP.capturedTexts(); if (capturedTexts.count() < 5) { qCWarning(APMFirmwarePluginLog) << "something wrong with parsing the version text, not hitting anything" << VERSION_REXP.captureCount() << VERSION_REXP.capturedTexts(); return; } // successful extraction of version numbers // even though we could have collected the version string atleast // but if the parsing has faild, not much point _versionString = versionText; _vehicleType = capturedTexts[1]; _major = capturedTexts[2].toInt(); _minor = capturedTexts[3].toInt(); _patch = capturedTexts[4].toInt(); } /* * @brief APMCustomMode encapsulates the custom modes for APM */ APMCustomMode::APMCustomMode(uint32_t mode, bool settable) : _mode(mode), _settable(settable) { } void APMCustomMode::setEnumToStringMapping(const QMap& enumToString) { _enumToString = enumToString; } QString APMCustomMode::modeString() const { QString mode = _enumToString.value(modeAsInt()); if (mode.isEmpty()) { mode = "mode" + QString::number(modeAsInt()); } return mode; } APMFirmwarePluginInstanceData::APMFirmwarePluginInstanceData(QObject* parent) : QObject(parent) , textSeverityAdjustmentNeeded(false) { } APMFirmwarePlugin::APMFirmwarePlugin(void) : _coaxialMotors(false) { qmlRegisterType ("QGroundControl.Controllers", 1, 0, "APMFlightModesComponentController"); qmlRegisterType ("QGroundControl.Controllers", 1, 0, "APMAirframeComponentController"); qmlRegisterType ("QGroundControl.Controllers", 1, 0, "APMSensorsComponentController"); qmlRegisterType ("QGroundControl.Controllers", 1, 0, "APMFollowComponentController"); qmlRegisterType ("QGroundControl.Controllers", 1, 0, "APMSubMotorComponentController"); } AutoPilotPlugin* APMFirmwarePlugin::autopilotPlugin(Vehicle* vehicle) { return new APMAutoPilotPlugin(vehicle, vehicle); } bool APMFirmwarePlugin::isCapable(const Vehicle* vehicle, FirmwareCapabilities capabilities) { uint32_t available = SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability; if (vehicle->multiRotor()) { available |= TakeoffVehicleCapability; } else if (vehicle->vtol()) { available |= TakeoffVehicleCapability; } return (capabilities & available) == capabilities; } QList APMFirmwarePlugin::componentsForVehicle(AutoPilotPlugin* vehicle) { Q_UNUSED(vehicle); return QList(); } QStringList APMFirmwarePlugin::flightModes(Vehicle* vehicle) { Q_UNUSED(vehicle) QStringList flightModesList; foreach (const APMCustomMode& customMode, _supportedModes) { if (customMode.canBeSet()) { flightModesList << customMode.modeString(); } } return flightModesList; } QString APMFirmwarePlugin::flightMode(uint8_t base_mode, uint32_t custom_mode) const { QString flightMode = "Unknown"; if (base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) { foreach (const APMCustomMode& customMode, _supportedModes) { if (customMode.modeAsInt() == custom_mode) { flightMode = customMode.modeString(); } } } return flightMode; } bool APMFirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) { *base_mode = 0; *custom_mode = 0; bool found = false; foreach(const APMCustomMode& mode, _supportedModes) { if (flightMode.compare(mode.modeString(), Qt::CaseInsensitive) == 0) { *base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; *custom_mode = mode.modeAsInt(); found = true; break; } } if (!found) { qCWarning(APMFirmwarePluginLog) << "Unknown flight Mode" << flightMode; } return found; } void APMFirmwarePlugin::_handleIncomingParamValue(Vehicle* vehicle, mavlink_message_t* message) { Q_UNUSED(vehicle); mavlink_param_value_t paramValue; mavlink_param_union_t paramUnion; memset(¶mValue, 0, sizeof(paramValue)); // APM stack passes all parameter values in mavlink_param_union_t.param_float no matter what // type they are. Fix that up to correct usage. mavlink_msg_param_value_decode(message, ¶mValue); switch (paramValue.param_type) { case MAV_PARAM_TYPE_UINT8: paramUnion.param_uint8 = static_cast(paramValue.param_value); break; case MAV_PARAM_TYPE_INT8: paramUnion.param_int8 = static_cast(paramValue.param_value); break; case MAV_PARAM_TYPE_UINT16: paramUnion.param_uint16 = static_cast(paramValue.param_value); break; case MAV_PARAM_TYPE_INT16: paramUnion.param_int16 = static_cast(paramValue.param_value); break; case MAV_PARAM_TYPE_UINT32: paramUnion.param_uint32 = static_cast(paramValue.param_value); break; case MAV_PARAM_TYPE_INT32: paramUnion.param_int32 = static_cast(paramValue.param_value); break; case MAV_PARAM_TYPE_REAL32: paramUnion.param_float = paramValue.param_value; break; default: qCCritical(APMFirmwarePluginLog) << "Invalid/Unsupported data type used in parameter:" << paramValue.param_type; } paramValue.param_value = paramUnion.param_float; // Re-Encoding is always done using mavlink 1.0 mavlink_status_t* mavlinkStatusReEncode = mavlink_get_channel_status(0); mavlinkStatusReEncode->flags |= MAVLINK_STATUS_FLAG_IN_MAVLINK1; mavlink_msg_param_value_encode_chan(message->sysid, message->compid, 0, // Re-encoding uses reserved channel 0 message, ¶mValue); } void APMFirmwarePlugin::_handleOutgoingParamSetThreadSafe(Vehicle* /*vehicle*/, LinkInterface* outgoingLink, mavlink_message_t* message) { mavlink_param_set_t paramSet; mavlink_param_union_t paramUnion; memset(¶mSet, 0, sizeof(paramSet)); // APM stack passes all parameter values in mavlink_param_union_t.param_float no matter what // type they are. Fix it back to the wrong way on the way out. mavlink_msg_param_set_decode(message, ¶mSet); if (!_ardupilotComponentMap[paramSet.target_system][paramSet.target_component]) { // Message is targetted to non-ArduPilot firmware component, assume it uses current mavlink spec return; } paramUnion.param_float = paramSet.param_value; switch (paramSet.param_type) { case MAV_PARAM_TYPE_UINT8: paramSet.param_value = paramUnion.param_uint8; break; case MAV_PARAM_TYPE_INT8: paramSet.param_value = paramUnion.param_int8; break; case MAV_PARAM_TYPE_UINT16: paramSet.param_value = paramUnion.param_uint16; break; case MAV_PARAM_TYPE_INT16: paramSet.param_value = paramUnion.param_int16; break; case MAV_PARAM_TYPE_UINT32: paramSet.param_value = paramUnion.param_uint32; break; case MAV_PARAM_TYPE_INT32: paramSet.param_value = paramUnion.param_int32; break; case MAV_PARAM_TYPE_REAL32: // Already in param_float break; default: qCCritical(APMFirmwarePluginLog) << "Invalid/Unsupported data type used in parameter:" << paramSet.param_type; } _adjustOutgoingMavlinkMutex.lock(); mavlink_msg_param_set_encode_chan(message->sysid, message->compid, outgoingLink->mavlinkChannel(), message, ¶mSet); _adjustOutgoingMavlinkMutex.unlock(); } bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* vehicle, mavlink_message_t* message) { QString messageText; APMFirmwarePluginInstanceData* instanceData = qobject_cast(vehicle->firmwarePluginInstanceData()); int severity = mavlink_msg_statustext_get_severity(message); if (vehicle->firmwareMajorVersion() == Vehicle::versionNotSetValue || severity < MAV_SEVERITY_NOTICE) { messageText = _getMessageText(message); qCDebug(APMFirmwarePluginLog) << messageText; if (!messageText.contains(APM_SOLO_REXP)) { // if don't know firmwareVersion yet, try and see if this message contains it if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP) || messageText.contains(APM_SUB_REXP)) { // found version string APMFirmwareVersion firmwareVersion(messageText); instanceData->textSeverityAdjustmentNeeded = _isTextSeverityAdjustmentNeeded(firmwareVersion); vehicle->setFirmwareVersion(firmwareVersion.majorNumber(), firmwareVersion.minorNumber(), firmwareVersion.patchNumber()); int supportedMajorNumber = -1; int supportedMinorNumber = -1; switch (vehicle->vehicleType()) { case MAV_TYPE_VTOL_DUOROTOR: case MAV_TYPE_VTOL_QUADROTOR: case MAV_TYPE_VTOL_TILTROTOR: case MAV_TYPE_VTOL_RESERVED2: case MAV_TYPE_VTOL_RESERVED3: case MAV_TYPE_VTOL_RESERVED4: case MAV_TYPE_VTOL_RESERVED5: case MAV_TYPE_FIXED_WING: supportedMajorNumber = 3; supportedMinorNumber = 8; break; case MAV_TYPE_QUADROTOR: // Start TCP video handshake with ARTOO in case it's a Solo running ArduPilot firmware _soloVideoHandshake(vehicle, false /* originalSoloFirmware */); [[fallthrough]]; case MAV_TYPE_COAXIAL: case MAV_TYPE_HELICOPTER: case MAV_TYPE_SUBMARINE: case MAV_TYPE_HEXAROTOR: case MAV_TYPE_OCTOROTOR: case MAV_TYPE_TRICOPTER: supportedMajorNumber = 3; supportedMinorNumber = 5; break; case MAV_TYPE_GROUND_ROVER: case MAV_TYPE_SURFACE_BOAT: supportedMajorNumber = 3; supportedMinorNumber = 4; default: break; } if (supportedMajorNumber != -1) { if (firmwareVersion.majorNumber() < supportedMajorNumber || (firmwareVersion.majorNumber() == supportedMajorNumber && firmwareVersion.minorNumber() < supportedMinorNumber)) { qgcApp()->showAppMessage(tr("QGroundControl fully supports Version %1.%2 and above. You are using a version prior to that. This combination is untested, you may run into unpredictable results.").arg(supportedMajorNumber).arg(supportedMinorNumber)); } } } } // APM user facing calibration messages come through as high severity, we need to parse them out // and lower the severity on them so that they don't pop in the users face. if (messageText.contains("Place vehicle") || messageText.contains("Calibration successful")) { _adjustCalibrationMessageSeverity(message); return true; } } // adjust mesasge if needed if (instanceData->textSeverityAdjustmentNeeded) { _adjustSeverity(message); } if (messageText.isEmpty()) { messageText = _getMessageText(message); } // The following messages are incorrectly labeled as warning message. // Fixed in newer firmware (unreleased at this point), but still in older firmware. if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP) || messageText.contains(APM_SUB_REXP) || messageText.contains(APM_PX4NUTTX_REXP) || messageText.contains(APM_FRAME_REXP) || messageText.contains(APM_SYSID_REXP)) { _setInfoSeverity(message); } if (messageText.contains(APM_SOLO_REXP)) { qDebug() << "Found Solo"; vehicle->setSoloFirmware(true); // Fix up severity _setInfoSeverity(message); // Start TCP video handshake with ARTOO _soloVideoHandshake(vehicle, true /* originalSoloFirmware */); } else if (messageText.contains(APM_FRAME_REXP)) { // We need to parse the Frame: message in order to determine whether the motors are coaxial or not QRegExp frameTypeRegex("^Frame: (\\S*)"); if (frameTypeRegex.indexIn(messageText) != -1) { QString frameType = frameTypeRegex.cap(1); if (!frameType.isEmpty() && (frameType == QStringLiteral("Y6") || frameType == QStringLiteral("OCTA_QUAD") || frameType == QStringLiteral("COAX"))) { _coaxialMotors = true; } } } return true; } void APMFirmwarePlugin::_handleIncomingHeartbeat(Vehicle* vehicle, mavlink_message_t* message) { bool flying = false; mavlink_heartbeat_t heartbeat; mavlink_msg_heartbeat_decode(message, &heartbeat); if (message->compid == MAV_COMP_ID_AUTOPILOT1) { // We pull Vehicle::flying state from HEARTBEAT on ArduPilot. This is a firmware specific test. if (vehicle->armed()) { flying = heartbeat.system_status == MAV_STATE_ACTIVE; if (!flying && vehicle->flying()) { // If we were previously flying, and we go into critical or emergency assume we are still flying flying = heartbeat.system_status == MAV_STATE_CRITICAL || heartbeat.system_status == MAV_STATE_EMERGENCY; } } vehicle->_setFlying(flying); } // We need to know whether this component is part of the ArduPilot stack code or not so we can adjust mavlink quirks appropriately. // If the component sends a heartbeat we can know that. If it's doesn't there is pretty much no way to know. _ardupilotComponentMap[message->sysid][message->compid] = heartbeat.autopilot == MAV_AUTOPILOT_ARDUPILOTMEGA; // Force the ESP8266 to be non-ArduPilot code (it doesn't send heartbeats) _ardupilotComponentMap[message->sysid][MAV_COMP_ID_UDP_BRIDGE] = false; } bool APMFirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message) { if (message->msgid == MAVLINK_MSG_ID_HEARTBEAT) { // We need to look at all heartbeats that go by from any component _handleIncomingHeartbeat(vehicle, message); return true; } // Only translate messages which come from ArduPilot code. All other components are expected to follow current mavlink spec. if (_ardupilotComponentMap[vehicle->id()][message->compid]) { switch (message->msgid) { case MAVLINK_MSG_ID_PARAM_VALUE: _handleIncomingParamValue(vehicle, message); break; case MAVLINK_MSG_ID_STATUSTEXT: return _handleIncomingStatusText(vehicle, message); case MAVLINK_MSG_ID_RC_CHANNELS: _handleRCChannels(vehicle, message); break; case MAVLINK_MSG_ID_RC_CHANNELS_RAW: _handleRCChannelsRaw(vehicle, message); break; } } return true; } void APMFirmwarePlugin::adjustOutgoingMavlinkMessageThreadSafe(Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message) { switch (message->msgid) { case MAVLINK_MSG_ID_PARAM_SET: _handleOutgoingParamSetThreadSafe(vehicle, outgoingLink, message); break; } } QString APMFirmwarePlugin::_getMessageText(mavlink_message_t* message) const { QByteArray b; b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1); mavlink_msg_statustext_get_text(message, b.data()); // Ensure NUL-termination b[b.length()-1] = '\0'; return QString(b); } bool APMFirmwarePlugin::_isTextSeverityAdjustmentNeeded(const APMFirmwareVersion& firmwareVersion) { if (!firmwareVersion.isValid()) { return false; } bool adjustmentNeeded = false; if (firmwareVersion.vehicleType().contains(APM_COPTER_REXP)) { if (firmwareVersion < APMFirmwareVersion(MIN_COPTER_VERSION_WITH_CORRECT_SEVERITY_MSGS)) { adjustmentNeeded = true; } } else if (firmwareVersion.vehicleType().contains(APM_PLANE_REXP)) { if (firmwareVersion < APMFirmwareVersion(MIN_PLANE_VERSION_WITH_CORRECT_SEVERITY_MSGS)) { adjustmentNeeded = true; } } else if (firmwareVersion.vehicleType().contains(APM_ROVER_REXP)) { if (firmwareVersion < APMFirmwareVersion(MIN_ROVER_VERSION_WITH_CORRECT_SEVERITY_MSGS)) { adjustmentNeeded = true; } } else if (firmwareVersion.vehicleType().contains(APM_SUB_REXP)) { if (firmwareVersion < APMFirmwareVersion(MIN_SUB_VERSION_WITH_CORRECT_SEVERITY_MSGS)) { adjustmentNeeded = true; } } return adjustmentNeeded; } void APMFirmwarePlugin::_adjustSeverity(mavlink_message_t* message) const { // lets make QGC happy with right severity values mavlink_statustext_t statusText; mavlink_msg_statustext_decode(message, &statusText); switch(statusText.severity) { case MAV_SEVERITY_ALERT: /* SEVERITY_LOW according to old codes */ statusText.severity = MAV_SEVERITY_WARNING; break; case MAV_SEVERITY_CRITICAL: /*SEVERITY_MEDIUM according to old codes */ statusText.severity = MAV_SEVERITY_ALERT; break; case MAV_SEVERITY_ERROR: /*SEVERITY_HIGH according to old codes */ statusText.severity = MAV_SEVERITY_CRITICAL; break; } // Re-Encoding is always done using mavlink 1.0 mavlink_status_t* mavlinkStatusReEncode = mavlink_get_channel_status(0); mavlinkStatusReEncode->flags |= MAVLINK_STATUS_FLAG_IN_MAVLINK1; mavlink_msg_statustext_encode_chan(message->sysid, message->compid, 0, // Re-encoding uses reserved channel 0 message, &statusText); } void APMFirmwarePlugin::_setInfoSeverity(mavlink_message_t* message) const { // Re-Encoding is always done using mavlink 1.0 mavlink_status_t* mavlinkStatusReEncode = mavlink_get_channel_status(0); mavlinkStatusReEncode->flags |= MAVLINK_STATUS_FLAG_IN_MAVLINK1; mavlink_statustext_t statusText; mavlink_msg_statustext_decode(message, &statusText); statusText.severity = MAV_SEVERITY_INFO; mavlink_msg_statustext_encode_chan(message->sysid, message->compid, 0, // Re-encoding uses reserved channel 0 message, &statusText); } void APMFirmwarePlugin::_adjustCalibrationMessageSeverity(mavlink_message_t* message) const { mavlink_statustext_t statusText; mavlink_msg_statustext_decode(message, &statusText); // Re-Encoding is always done using mavlink 1.0 mavlink_status_t* mavlinkStatusReEncode = mavlink_get_channel_status(0); mavlinkStatusReEncode->flags |= MAVLINK_STATUS_FLAG_IN_MAVLINK1; statusText.severity = MAV_SEVERITY_INFO; mavlink_msg_statustext_encode_chan(message->sysid, message->compid, 0, message, &statusText); } void APMFirmwarePlugin::initializeStreamRates(Vehicle* vehicle) { APMMavlinkStreamRateSettings* streamRates = qgcApp()->toolbox()->settingsManager()->apmMavlinkStreamRateSettings(); struct StreamInfo_s { MAV_DATA_STREAM mavStream; int streamRate; }; StreamInfo_s rgStreamInfo[] = { { MAV_DATA_STREAM_RAW_SENSORS, streamRates->streamRateRawSensors()->rawValue().toInt() }, { MAV_DATA_STREAM_EXTENDED_STATUS, streamRates->streamRateExtendedStatus()->rawValue().toInt() }, { MAV_DATA_STREAM_RC_CHANNELS, streamRates->streamRateRCChannels()->rawValue().toInt() }, { MAV_DATA_STREAM_POSITION, streamRates->streamRatePosition()->rawValue().toInt() }, { MAV_DATA_STREAM_EXTRA1, streamRates->streamRateExtra1()->rawValue().toInt() }, { MAV_DATA_STREAM_EXTRA2, streamRates->streamRateExtra2()->rawValue().toInt() }, { MAV_DATA_STREAM_EXTRA3, streamRates->streamRateExtra3()->rawValue().toInt() }, }; for (size_t i=0; i= 0) { vehicle->requestDataStream(streamInfo.mavStream, static_cast(streamInfo.streamRate)); } } // ArduPilot only sends home position on first boot and then when it arms. It does not stream the position. // This means that depending on when QGC connects to the vehicle it may not have home position. // This can cause various features to not be available. So we request home position streaming ourselves. // The MAV_CMD_SET_MESSAGE_INTERVAL command is only supported on newer firmwares. So we set showError=false. // Which also means than on older firmwares you may be left with some missing features. vehicle->sendMavCommand(MAV_COMP_ID_AUTOPILOT1, MAV_CMD_SET_MESSAGE_INTERVAL, false /* showError */, MAVLINK_MSG_ID_HOME_POSITION, 1000000 /* 1 second interval in usec */); } void APMFirmwarePlugin::initializeVehicle(Vehicle* vehicle) { vehicle->setFirmwarePluginInstanceData(new APMFirmwarePluginInstanceData); if (vehicle->isOfflineEditingVehicle()) { switch (vehicle->vehicleType()) { case MAV_TYPE_QUADROTOR: case MAV_TYPE_HEXAROTOR: case MAV_TYPE_OCTOROTOR: case MAV_TYPE_TRICOPTER: case MAV_TYPE_COAXIAL: case MAV_TYPE_HELICOPTER: vehicle->setFirmwareVersion(3, 6, 0); break; case MAV_TYPE_VTOL_DUOROTOR: case MAV_TYPE_VTOL_QUADROTOR: case MAV_TYPE_VTOL_TILTROTOR: case MAV_TYPE_VTOL_RESERVED2: case MAV_TYPE_VTOL_RESERVED3: case MAV_TYPE_VTOL_RESERVED4: case MAV_TYPE_VTOL_RESERVED5: case MAV_TYPE_FIXED_WING: vehicle->setFirmwareVersion(3, 9, 0); break; case MAV_TYPE_GROUND_ROVER: case MAV_TYPE_SURFACE_BOAT: vehicle->setFirmwareVersion(3, 5, 0); break; case MAV_TYPE_SUBMARINE: vehicle->setFirmwareVersion(3, 4, 0); break; default: // No version set break; } } else { if (qgcApp()->toolbox()->settingsManager()->appSettings()->apmStartMavlinkStreams()->rawValue().toBool()) { // Streams are not started automatically on APM stack (sort of) initializeStreamRates(vehicle); } } } void APMFirmwarePlugin::setSupportedModes(QList supportedModes) { _supportedModes = supportedModes; } bool APMFirmwarePlugin::sendHomePositionToVehicle(void) { // APM stack wants the home position sent in the first position return true; } void APMFirmwarePlugin::addMetaDataToFact(QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) { APMParameterMetaData* apmMetaData = qobject_cast(parameterMetaData); if (apmMetaData) { apmMetaData->addMetaDataToFact(fact, vehicleType); } else { qWarning() << "Internal error: pointer passed to APMFirmwarePlugin::addMetaDataToFact not APMParameterMetaData"; } } QList APMFirmwarePlugin::supportedMissionCommands(void) { return { MAV_CMD_NAV_WAYPOINT, MAV_CMD_NAV_LOITER_UNLIM, MAV_CMD_NAV_LOITER_TURNS, MAV_CMD_NAV_LOITER_TIME, MAV_CMD_NAV_RETURN_TO_LAUNCH, MAV_CMD_NAV_LAND, MAV_CMD_NAV_TAKEOFF, MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT, MAV_CMD_NAV_LOITER_TO_ALT, MAV_CMD_NAV_SPLINE_WAYPOINT, MAV_CMD_NAV_GUIDED_ENABLE, MAV_CMD_NAV_DELAY, MAV_CMD_CONDITION_DELAY, MAV_CMD_CONDITION_DISTANCE, MAV_CMD_CONDITION_YAW, MAV_CMD_DO_SET_MODE, MAV_CMD_DO_JUMP, MAV_CMD_DO_CHANGE_SPEED, MAV_CMD_DO_SET_HOME, MAV_CMD_DO_SET_RELAY, MAV_CMD_DO_REPEAT_RELAY, MAV_CMD_DO_SET_SERVO, MAV_CMD_DO_REPEAT_SERVO, MAV_CMD_DO_LAND_START, MAV_CMD_DO_SET_ROI, MAV_CMD_DO_DIGICAM_CONFIGURE, MAV_CMD_DO_DIGICAM_CONTROL, MAV_CMD_DO_MOUNT_CONTROL, MAV_CMD_DO_SET_CAM_TRIGG_DIST, MAV_CMD_DO_FENCE_ENABLE, MAV_CMD_DO_PARACHUTE, MAV_CMD_DO_INVERTED_FLIGHT, MAV_CMD_DO_GRIPPER, MAV_CMD_DO_GUIDED_LIMITS, MAV_CMD_DO_AUTOTUNE_ENABLE, MAV_CMD_NAV_VTOL_TAKEOFF, MAV_CMD_NAV_VTOL_LAND, MAV_CMD_DO_VTOL_TRANSITION, #if 0 // Waiting for module update MAV_CMD_DO_SET_REVERSE, #endif }; } QString APMFirmwarePlugin::missionCommandOverrides(MAV_TYPE vehicleType) const { switch (vehicleType) { case MAV_TYPE_GENERIC: return QStringLiteral(":/json/APM-MavCmdInfoCommon.json"); case MAV_TYPE_FIXED_WING: return QStringLiteral(":/json/APM-MavCmdInfoFixedWing.json"); case MAV_TYPE_QUADROTOR: return QStringLiteral(":/json/APM-MavCmdInfoMultiRotor.json"); case MAV_TYPE_VTOL_QUADROTOR: return QStringLiteral(":/json/APM-MavCmdInfoVTOL.json"); case MAV_TYPE_SUBMARINE: return QStringLiteral(":/json/APM-MavCmdInfoSub.json"); case MAV_TYPE_GROUND_ROVER: return QStringLiteral(":/json/APM-MavCmdInfoRover.json"); default: qWarning() << "APMFirmwarePlugin::missionCommandOverrides called with bad MAV_TYPE:" << vehicleType; return QString(); } } QObject* APMFirmwarePlugin::loadParameterMetaData(const QString& metaDataFile) { Q_UNUSED(metaDataFile); APMParameterMetaData* metaData = new APMParameterMetaData(); metaData->loadParameterFactMetaDataFile(metaDataFile); return metaData; } bool APMFirmwarePlugin::isGuidedMode(const Vehicle* vehicle) const { return vehicle->flightMode() == "Guided"; } void APMFirmwarePlugin::_soloVideoHandshake(Vehicle* vehicle, bool originalSoloFirmware) { Q_UNUSED(vehicle); QTcpSocket* socket = new QTcpSocket(); socket->connectToHost(_artooIP, _artooVideoHandshakePort); if (originalSoloFirmware) { #if QT_VERSION < QT_VERSION_CHECK(5, 15, 0) QObject::connect(socket, static_cast(&QTcpSocket::error), this, &APMFirmwarePlugin::_artooSocketError); #else QObject::connect(socket, &QAbstractSocket::errorOccurred, this, &APMFirmwarePlugin::_artooSocketError); #endif } } void APMFirmwarePlugin::_artooSocketError(QAbstractSocket::SocketError socketError) { qgcApp()->showAppMessage(tr("Error during Solo video link setup: %1").arg(socketError)); } QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle) { switch (vehicle->vehicleType()) { case MAV_TYPE_QUADROTOR: case MAV_TYPE_HEXAROTOR: case MAV_TYPE_OCTOROTOR: case MAV_TYPE_TRICOPTER: case MAV_TYPE_COAXIAL: case MAV_TYPE_HELICOPTER: if (vehicle->versionCompare(4, 0, 0) >= 0) { return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.4.0.xml"); } if (vehicle->versionCompare(3, 7, 0) >= 0) { return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.7.xml"); } if (vehicle->versionCompare(3, 6, 0) >= 0) { return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.6.xml"); } return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.5.xml"); case MAV_TYPE_VTOL_DUOROTOR: case MAV_TYPE_VTOL_QUADROTOR: case MAV_TYPE_VTOL_TILTROTOR: case MAV_TYPE_VTOL_RESERVED2: case MAV_TYPE_VTOL_RESERVED3: case MAV_TYPE_VTOL_RESERVED4: case MAV_TYPE_VTOL_RESERVED5: case MAV_TYPE_FIXED_WING: if (vehicle->versionCompare(4, 0, 0) >= 0) { return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.4.0.xml"); } if (vehicle->versionCompare(3, 10, 0) >= 0) { return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.10.xml"); } if (vehicle->versionCompare(3, 9, 0) >= 0) { return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.9.xml"); } return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.8.xml"); case MAV_TYPE_GROUND_ROVER: case MAV_TYPE_SURFACE_BOAT: if (vehicle->versionCompare(4, 0, 0) >= 0) { return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.4.0.xml"); } if (vehicle->versionCompare(3, 6, 0) >= 0) { return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.6.xml"); } if (vehicle->versionCompare(3, 5, 0) >= 0) { return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.5.xml"); } return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.4.xml"); case MAV_TYPE_SUBMARINE: if (vehicle->versionCompare(4, 0, 0) >= 0) { // 4.0.x return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.4.0.xml"); } if (vehicle->versionCompare(3, 6, 0) >= 0) { // 3.6.x return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.6.xml"); } if (vehicle->versionCompare(3, 5, 0) >= 0) { // 3.5.x return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.5.xml"); } // up to 3.4.x return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml"); default: return QString(); } } void APMFirmwarePlugin::setGuidedMode(Vehicle* vehicle, bool guidedMode) { if (guidedMode) { _setFlightModeAndValidate(vehicle, "Guided"); } else { pauseVehicle(vehicle); } } void APMFirmwarePlugin::pauseVehicle(Vehicle* vehicle) { _setFlightModeAndValidate(vehicle, pauseFlightMode()); } void APMFirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord) { if (qIsNaN(vehicle->altitudeRelative()->rawValue().toDouble())) { qgcApp()->showAppMessage(QStringLiteral("Unable to go to location, vehicle position not known.")); return; } setGuidedMode(vehicle, true); QGeoCoordinate coordWithAltitude = gotoCoord; coordWithAltitude.setAltitude(vehicle->altitudeRelative()->rawValue().toDouble()); vehicle->missionManager()->writeArduPilotGuidedMissionItem(coordWithAltitude, false /* altChangeOnly */); } void APMFirmwarePlugin::guidedModeRTL(Vehicle* vehicle, bool smartRTL) { _setFlightModeAndValidate(vehicle, smartRTL ? smartRTLFlightMode() : rtlFlightMode()); } void APMFirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange) { if (qIsNaN(vehicle->altitudeRelative()->rawValue().toDouble())) { qgcApp()->showAppMessage(tr("Unable to change altitude, vehicle altitude not known.")); return; } if (abs(altitudeChange) < 0.01) { // This prevents unecessary changes to Guided mode when the users selects pause and doesn't really touch the altitude slider return; } setGuidedMode(vehicle, true); mavlink_message_t msg; mavlink_set_position_target_local_ned_t cmd; memset(&cmd, 0, sizeof(cmd)); cmd.target_system = static_cast(vehicle->id()); cmd.target_component = static_cast(vehicle->defaultComponentId()); cmd.coordinate_frame = MAV_FRAME_LOCAL_OFFSET_NED; cmd.type_mask = 0xFFF8; // Only x/y/z valid cmd.x = 0.0f; cmd.y = 0.0f; cmd.z = static_cast(-(altitudeChange)); MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol(); mavlink_msg_set_position_target_local_ned_encode_chan( static_cast(mavlink->getSystemId()), static_cast(mavlink->getComponentId()), vehicle->priorityLink()->mavlinkChannel(), &msg, &cmd); vehicle->sendMessageOnLinkThreadSafe(vehicle->priorityLink(), msg); } void APMFirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle, double altitudeRel) { _guidedModeTakeoff(vehicle, altitudeRel); } double APMFirmwarePlugin::minimumTakeoffAltitude(Vehicle* vehicle) { double minTakeoffAlt = 0; QString takeoffAltParam(vehicle->vtol() ? QStringLiteral("Q_RTL_ALT") : QStringLiteral("PILOT_TKOFF_ALT")); float paramDivisor = vehicle->vtol() ? 1.0 : 100.0; // PILOT_TAKEOFF_ALT is in centimeters if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, takeoffAltParam)) { minTakeoffAlt = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, takeoffAltParam)->rawValue().toDouble() / static_cast(paramDivisor); } if (minTakeoffAlt == 0) { minTakeoffAlt = FirmwarePlugin::minimumTakeoffAltitude(vehicle); } return minTakeoffAlt; } bool APMFirmwarePlugin::_guidedModeTakeoff(Vehicle* vehicle, double altitudeRel) { if (!vehicle->multiRotor() && !vehicle->vtol()) { qgcApp()->showAppMessage(tr("Vehicle does not support guided takeoff")); return false; } double vehicleAltitudeAMSL = vehicle->altitudeAMSL()->rawValue().toDouble(); if (qIsNaN(vehicleAltitudeAMSL)) { qgcApp()->showAppMessage(tr("Unable to takeoff, vehicle position not known.")); return false; } double takeoffAltRel = minimumTakeoffAltitude(vehicle); if (!qIsNaN(altitudeRel) && altitudeRel > takeoffAltRel) { takeoffAltRel = altitudeRel; } if (!_setFlightModeAndValidate(vehicle, "Guided")) { qgcApp()->showAppMessage(tr("Unable to takeoff: Vehicle failed to change to Guided mode.")); return false; } if (!_armVehicleAndValidate(vehicle)) { qgcApp()->showAppMessage(tr("Unable to takeoff: Vehicle failed to arm.")); return false; } vehicle->sendMavCommand(vehicle->defaultComponentId(), MAV_CMD_NAV_TAKEOFF, true, // show error 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, static_cast(takeoffAltRel)); // Relative altitude return true; } void APMFirmwarePlugin::startMission(Vehicle* vehicle) { if (vehicle->flying()) { // Vehicle already in the air, we just need to switch to auto if (!_setFlightModeAndValidate(vehicle, "Auto")) { qgcApp()->showAppMessage(tr("Unable to start mission: Vehicle failed to change to Auto mode.")); } return; } if (!vehicle->armed()) { // First switch to flight mode we can arm from if (!_setFlightModeAndValidate(vehicle, "Guided")) { qgcApp()->showAppMessage(tr("Unable to start mission: Vehicle failed to change to Guided mode.")); return; } if (!_armVehicleAndValidate(vehicle)) { qgcApp()->showAppMessage(tr("Unable to start mission: Vehicle failed to arm.")); return; } } if (vehicle->fixedWing()) { if (!_setFlightModeAndValidate(vehicle, "Auto")) { qgcApp()->showAppMessage(tr("Unable to start mission: Vehicle failed to change to Auto mode.")); return; } } else { vehicle->sendMavCommand(vehicle->defaultComponentId(), MAV_CMD_MISSION_START, true /*show error */); } } QString APMFirmwarePlugin::_getLatestVersionFileUrl(Vehicle* vehicle) { const static QString baseUrl("http://firmware.ardupilot.org/%1/stable/PX4/git-version.txt"); if (qobject_cast(vehicle->firmwarePlugin())) { return baseUrl.arg("Plane"); } else if (qobject_cast(vehicle->firmwarePlugin())) { return baseUrl.arg("Rover"); } else if (qobject_cast(vehicle->firmwarePlugin())) { return baseUrl.arg("Sub"); } else if (qobject_cast(vehicle->firmwarePlugin())) { return baseUrl.arg("Copter"); } else { qWarning() << "APMFirmwarePlugin::_getLatestVersionFileUrl Unknown vehicle firmware type" << vehicle->vehicleType(); return QString(); } } QString APMFirmwarePlugin::_versionRegex() { return QStringLiteral(" V([0-9,\\.]*)$"); } void APMFirmwarePlugin::_handleRCChannels(Vehicle* vehicle, mavlink_message_t* message) { mavlink_rc_channels_t channels; mavlink_msg_rc_channels_decode(message, &channels); //-- Ardupilot uses 0-255 to indicate 0-100% where QGC expects 0-100 if(channels.rssi) { channels.rssi = static_cast(static_cast(channels.rssi) / 255.0 * 100.0); } MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol(); mavlink_msg_rc_channels_encode_chan( static_cast(mavlink->getSystemId()), static_cast(mavlink->getComponentId()), vehicle->priorityLink()->mavlinkChannel(), message, &channels); } void APMFirmwarePlugin::_handleRCChannelsRaw(Vehicle* vehicle, mavlink_message_t *message) { mavlink_rc_channels_raw_t channels; mavlink_msg_rc_channels_raw_decode(message, &channels); //-- Ardupilot uses 0-255 to indicate 0-100% where QGC expects 0-100 if(channels.rssi) { channels.rssi = static_cast(static_cast(channels.rssi) / 255.0 * 100.0); } MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol(); mavlink_msg_rc_channels_raw_encode_chan( static_cast(mavlink->getSystemId()), static_cast(mavlink->getComponentId()), vehicle->priorityLink()->mavlinkChannel(), message, &channels); } void APMFirmwarePlugin::_sendGCSMotionReport(Vehicle* vehicle, FollowMe::GCSMotionReport& motionReport, uint8_t estimationCapabilities) { if (!vehicle->homePosition().isValid()) { static bool sentOnce = false; if (!sentOnce) { sentOnce = true; qgcApp()->showAppMessage(tr("Follow failed: Home position not set.")); } return; } if (!(estimationCapabilities & (FollowMe::POS | FollowMe::VEL | FollowMe::HEADING))) { static bool sentOnce = false; if (!sentOnce) { sentOnce = true; qWarning() << "APMFirmwarePlugin::_sendGCSMotionReport estimateCapabilities" << estimationCapabilities; qgcApp()->showAppMessage(tr("Follow failed: Ground station cannot provide required position information.")); } return; } MAVLinkProtocol* mavlinkProtocol = qgcApp()->toolbox()->mavlinkProtocol(); mavlink_global_position_int_t globalPositionInt; memset(&globalPositionInt, 0, sizeof(globalPositionInt)); // Important note: QGC only supports sending the constant GCS home position altitude for follow me. globalPositionInt.time_boot_ms = static_cast(qgcApp()->msecsSinceBoot()); globalPositionInt.lat = motionReport.lat_int; globalPositionInt.lon = motionReport.lon_int; globalPositionInt.alt = static_cast(vehicle->homePosition().altitude() * 1000); // mm globalPositionInt.relative_alt = static_cast(0); // mm globalPositionInt.vx = static_cast(motionReport.vxMetersPerSec * 100); // cm/sec globalPositionInt.vy = static_cast(motionReport.vyMetersPerSec * 100); // cm/sec globalPositionInt.vy = static_cast(motionReport.vzMetersPerSec * 100); // cm/sec globalPositionInt.hdg = static_cast(motionReport.headingDegrees * 100.0); // centi-degrees mavlink_message_t message; mavlink_msg_global_position_int_encode_chan(static_cast(mavlinkProtocol->getSystemId()), static_cast(mavlinkProtocol->getComponentId()), vehicle->priorityLink()->mavlinkChannel(), &message, &globalPositionInt); vehicle->sendMessageOnLinkThreadSafe(vehicle->priorityLink(), message); }