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*
* ( c ) 2009 - 2016 QGROUNDCONTROL PROJECT < http: //www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING . md in the root of the source code directory .
*
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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
/// PX4 Advanced Flight Mode configuration
Item {
id: root
// The following properties must be pushed in from the Loader
//property var qgcView - QGCView control
//property var qgcViewPanel - QGCViewPanel control
readonly property bool _shortText : ScreenTools . isTinyScreen
// User visible strings
readonly property string title: qsTr ( "FLIGHT MODES" )
property string topHelpText: ScreenTools . isTinyScreen ?
qsTr ( "Assign Flight Modes to radio control channels and adjust the thresholds for triggering them." ) :
( qsTr ( "Assign Flight Modes to radio control channels and adjust the thresholds for triggering them. " ) +
qsTr ( "You can assign multiple flight modes to a single channel. " ) +
qsTr ( "Turn your radio control on to test switch settings. " ) +
qsTr ( "The following channels: " ) + controller . reservedChannels +
qsTr ( " are not available for Flight Modes since they are already in use for other functions." ) )
readonly property string fwManualModeName: qsTr ( "Manual/Main" )
readonly property string mrManualModeName: qsTr ( "Stabilized/Main" )
readonly property string fwManualModeDescription: qsTr ( "The pilot has full control of the aircraft, no assistance is provided. " ) +
qsTr ( "The Main mode switch must always be assigned to a channel in order to fly" )
readonly property string mrManualModeDescription: qsTr ( "The pilot has full control of the aircraft, only attitude is stabilized. " ) +
qsTr ( "The Main mode switch must always be assigned to a channel in order to fly" )
readonly property string assistModeName: qsTr ( "Assist" )
readonly property string assistModeDescription: qsTr ( "If Position Control is placed on a seperate channel from the Main mode channel, an additional 'Assist' mode is added to the Main switch. " ) +
qsTr ( "In order for the Attitude Control/Position Control switch to be active, the Main switch must be in Assist mode." )
readonly property string autoModeName: qsTr ( "Auto" )
readonly property string autoModeDescription: qsTr ( "If Loiter is placed on a seperate channel from the Main mode channel, an additional 'Auto' mode is added to the Main switch. " ) +
qsTr ( "In order for the Mission/Loiter switch to be active, the Main switch must be in Auto mode." )
readonly property string fwAcroModeName: qsTr ( "Stabilized" )
readonly property string mrAcroModeName: qsTr ( "Acro" )
readonly property string fwAcroModeDescription: qsTr ( "The angular rates are controlled, but not the attitude. " )
readonly property string mrAcroModeDescription: qsTr ( "The angular rates are controlled, but not the attitude. " )
readonly property string altCtlModeName: qsTr ( "Altitude Control" )
readonly property string fwAltCtlModeDescription: qsTr ( "Roll stick controls banking, pitch stick altitude " ) +
qsTr ( "Throttle stick controls speed. " ) +
qsTr ( "With no stick inputs the plane holds heading, but drifts off in wind. " )
readonly property string mrAltCtlModeDescription: qsTr ( "Same as Stablized mode except that Throttle controls climb/sink rate. Centered Throttle holds altitude steady. " )
readonly property string posCtlModeName: qsTr ( "Position Control" )
readonly property string fwPosCtlModeDescription: qsTr ( "Roll stick controls banking, pitch stick controls altitude. " ) +
qsTr ( "Throttle stick controls speed." ) +
qsTr ( "With no stick inputs the plane flies a straight line, even in wind. " )
readonly property string mrPosCtlModeDescription: qsTr ( "Roll and Pitch sticks control sideways and forward speed " ) +
qsTr ( "Throttle stick controls climb / sink rade. " )
readonly property string missionModeName: qsTr ( "Auto Mission" )
readonly property string missionModeDescription: qsTr ( "The aircraft obeys the programmed mission sent by QGroundControl. " )
readonly property string loiterModeName: qsTr ( "Auto Pause" )
readonly property string fwLoiterModeDescription: qsTr ( "The aircraft flies in a circle around the current position at the current altitude. " )
readonly property string mrLoiterModeDescription: qsTr ( "The multirotor hovers at the current position and altitude. " )
readonly property string returnModeName: qsTr ( "Return" )
readonly property string returnModeDescription: qsTr ( "The vehicle returns to the home position, loiters and then lands. " )
readonly property string offboardModeName: qsTr ( "Offboard" )
readonly property string offboardModeDescription: qsTr ( "All flight control aspects are controlled by an offboard system." )
readonly property real modeSpacing: ScreenTools . defaultFontPixelHeight / 3
QGCPalette { id: qgcPal ; colorGroupEnabled: panel . enabled }
PX4AdvancedFlightModesController {
id: controller
factPanel: qgcViewPanel
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
}
Component {
id: joystickEnabledDialogComponent
QGCViewMessage {
message: qsTr ( "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
Item {
id: helpApplyRow
width: parent . width
height: Math . max ( helpText . contentHeight , applyButton . y + applyButton . height )
QGCLabel {
id: helpText
anchors.rightMargin: ScreenTools . defaultFontPixelWidth
anchors.left: parent . left
anchors.right: buttonColumn . left
text: topHelpText
font.pointSize: ScreenTools . defaultFontPointSize
wrapMode: Text . WordWrap
}
Column {
id: buttonColumn
anchors.rightMargin: ScreenTools . defaultFontPixelWidth
anchors.right: parent . right
spacing: ScreenTools . defaultFontPixelHeight / 4
QGCButton {
text: qsTr ( "Use Single Channel Mode Selection" )
visible: controller . parameterExists ( - 1 , "RC_MAP_FLTMODE" )
onClicked: {
controller . getParameterFact ( - 1 , "RC_MAP_MODE_SW" ) . value = 0
controller . getParameterFact ( - 1 , "RC_MAP_FLTMODE" ) . value = 5
}
}
QGCButton {
id: applyButton
text: qsTr ( "Generate Thresholds" )
onClicked: controller . generateThresholds ( )
}
}
}
Item {
id: lastSpacer
anchors.top: helpApplyRow . bottom
height: ScreenTools . defaultFontPixelHeight
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
onModeChannelIndexSelected: controller . manualModeChannelIndex = index
}
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
onModeChannelIndexSelected: controller . acroModeChannelIndex = index
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
onModeChannelIndexSelected: controller . posCtlModeChannelIndex = index
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
onModeChannelIndexSelected: controller . loiterModeChannelIndex = index
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
onModeChannelIndexSelected: controller . returnModeChannelIndex = index
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
onModeChannelIndexSelected: controller . offboardModeChannelIndex = index
onThresholdValueChanged: controller . offboardModeThreshold = thresholdValue
Behavior on y { PropertyAnimation { easing.type: Easing . InOutQuad ; duration: 1000 } }
}
} // Item
} // Scroll View
} // Item
